A precision landing drone based on multiple sensors

Abstract

A precision landing drone based on multiple sensors includes a drone body, a wireless prompt circuit, a power switch, a voltage stabilizing module, a wireless control circuit, an automatic landing gear mechanism, a wireless remote control circuit, and a wireless feedback circuit; the automatic landing gear mechanism has multiple identical sets, each set includes a landing gear, a photoelectric switch, and a support plate, the landing gear is an electric telescopic rod, the support plate is connected to the lower end of the electric telescopic rod, the side end of the support plate has a through hole, and the photoelectric switch is vertically installed in the through hole; the upper ends of the electric telescopic rods of the multiple sets of automatic landing gears are respectively installed around the lower end of the shell of the drone body; the wireless prompt circuit, the wireless control circuit, the power switch, and the voltage stabilizing module are installed in the shell of the drone body and electrically connected; the wireless remote control circuit and the wireless feedback circuit are installed in the remote controller of the drone body and electrically connected. After landing, the drone body of the present invention can be kept level with the ground as much as possible, reducing the probability of the drone being overweight and damaged.

Description

Technical Field

[0001] The invention relates to the field of unmanned aerial vehicles, in particular to a precision landing unmanned aerial vehicle based on multiple sensors. Background Art

[0002] A drone (unmanned aircraft) is an unmanned aircraft that is mainly controlled by radio remote control or its own program. It mainly includes military drones and civilian drones. Civilian drones have the advantages of small size, low cost, easy use, and low requirements for the environment (including take-off and landing environment), and are very popular among users. With the development of science and technology and the progress of society, drones are increasingly used in various fields. The working environment of drones varies greatly. The flatness of the ground has a relatively important relationship with the landing of drones. If the unevenness of the ground exceeds a certain range during landing, there is a probability that the drone will tip over due to unbalanced weight, and then the rotor will hit the ground and cause damage. Based on the above, it is particularly necessary to provide a precise landing drone that can ensure that it remains horizontal with the ground as much as possible after landing. Summary of the invention

[0003] In order to overcome the disadvantages that the existing UAV is greatly affected by the ground flatness factor when landing, and when the ground unevenness exceeds a certain level, it will tip over, and then the relevant parts of the UAV are likely to be damaged, the present invention provides a plurality of landing gear mechanisms arranged around the UAV body. When the UAV is landing and is a certain distance away from the ground, through the action of relevant control mechanisms, the plurality of automatic landing gear mechanisms can respectively adjust the distance between themselves and the ground, so as to ensure that the UAV body can maintain a horizontal state after landing on the ground, thereby minimizing the probability of the UAV tipping over and being damaged due to unbalanced weight. A precision landing UAV based on multiple sensors.

[0004] The technical solution adopted by the present invention to solve its technical problem is:

[0005] A multi-sensor based precision landing drone, including a drone body, characterized in that it also has a wireless prompt circuit, a power switch, a voltage stabilizing module, a wireless control circuit, an automatic landing gear mechanism, a wireless remote control circuit, and a wireless feedback circuit; the automatic landing gear mechanism has multiple identical sets, each set includes a landing gear, a photoelectric switch, and a support plate, the landing gear is an electric telescopic rod, the support plate is connected to the lower end of the electric telescopic rod, the side end of the support plate has a through hole, and the photoelectric switch is vertically installed in the through hole; the upper ends of the electric telescopic rods of the multiple sets of automatic landing gears are respectively installed around the lower end of the shell of the drone body; the wireless prompt circuit, the wireless control circuit, the wireless remote control circuit, and the wireless feedback circuit The control circuit, power switch and voltage stabilizing module are installed in the shell of the drone body; the battery in the drone body and the power input end of the voltage stabilizing module are electrically connected respectively, and the power output ends of the voltage stabilizing module are electrically connected to the power input ends of the wireless prompt circuit and the wireless control circuit respectively; the two power output ends of the wireless control circuit are electrically connected to the power input ends of multiple sets of automatic landing gear mechanisms respectively; the wireless remote control circuit and the wireless feedback circuit are installed in the remote controller of the drone body; the two poles of the battery in the remote controller of the drone body are electrically connected to the power input ends of the wireless remote control circuit and the wireless feedback circuit respectively.

[0006] Furthermore, the wireless prompt circuit includes a photoelectric switch, a wireless transmission module, and a relay, which are connected by wires. The photoelectric switch is vertically installed at the lower end of the outer side of the shell of the drone body, the positive power input end of the photoelectric switch is connected to the positive power input end of the wireless transmission module, the positive power output end of the photoelectric switch is connected to the positive power input end of the relay, the negative power input end of the photoelectric switch is connected to the negative power input end of the wireless transmission module and the negative power input end of the relay, and the relay control contact end, the normally open contact end and the two contacts under the first wireless signal transmission button of the wireless transmission module are respectively connected.

[0007] Furthermore, the wireless control circuit includes a wireless receiving circuit module, a resistor, an NPN transistor and a relay, the two output ends of the wireless receiving circuit module are respectively connected to one end of the two resistors, the other ends of the two resistors are connected to the bases of the two NPN transistors, the collectors of the two NPN transistors are respectively connected to the negative power input ends of the two relays, the negative control power input ends of the two relays are connected to the emitters of the two NPN transistors, and the positive power input end of the wireless receiving circuit module is connected to the positive poles of the two relays and the control power input end.

[0008] Furthermore, in each set of automatic landing gear mechanism, the photoelectric switch is also equipped with a relay, which is connected via a wire. The positive power input terminal of the photoelectric switch is connected to the positive control power input terminal of the relay, the negative power input terminal of the photoelectric switch is connected to the negative pole and negative control power input terminal of the relay, the positive power output terminal of the photoelectric switch is connected to the positive power input terminal of the relay, and the two normally open contact terminals of the relay are respectively connected to the positive and negative power input terminals of the electric telescopic rod.

[0009] Furthermore, the wireless feedback circuit includes a wireless receiving circuit module, a resistor and a light-emitting diode, the output end of the wireless receiving circuit module is connected to one end of the resistor, the other end of the resistor is connected to the positive electrode of the light-emitting diode, and the negative power input end of the wireless receiving circuit module is connected to the negative power input end of the light-emitting diode.

[0010] The beneficial effect of the present invention is that before the present invention is used, the plunger rods of the electric telescopic rods of multiple sets of automatic landing gear mechanisms are controlled by the wireless remote control circuit to drive the support plate upward to the upper dead point. During the landing of the drone body, when the distance between the ground (the lower end of the shell of the drone body) is less than 1.8 meters, the prompt circuit will emit a wireless signal. After the operator receives the signal, the wireless feedback circuit at the operator will give the operator a prompt. The operator operates the drone body to temporarily keep hovering, and at the same time sends a control signal through the wireless remote control circuit. After the wireless control circuit receives the control signal, it will control multiple sets of automatic landing gear mechanisms to be powered on at the same time. Then, the plunger rods of multiple sets of electric telescopic rods simultaneously drive multiple support plates downward. When the distance between the lower end of the support plate and the ground is appropriate, the corresponding set of electric telescopic rods will stop working. In this way, when the ground height is different, the height of multiple support plates will be different. The operator operates the drone to descend, and the drone body can be kept as level as possible with the ground after landing, thereby reducing the probability of the drone tipping and damage due to unbalanced weight as much as possible. Based on the above, the present invention has a good application prospect. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0012] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0013] Figure 2 The invention discloses a circuit diagram of a wireless prompt circuit, a power switch, a voltage stabilizing module, a wireless control circuit and an automatic landing gear mechanism.

[0014] Figure 3 It is a circuit diagram of the wireless remote control circuit and the wireless feedback circuit of the present invention. DETAILED DESCRIPTION

[0015] Figure 1 , 2As shown in the figure, a multi-sensor based precision landing drone includes a drone body 1, a wireless prompt circuit 2, a power switch 3, a voltage stabilizing module 4, a wireless control circuit 5, an automatic landing gear mechanism 6, a wireless remote control circuit 7, and a wireless feedback circuit 8; the automatic landing gear mechanism 6 has four identical sets, each set includes a landing gear 61, a photoelectric switch 62, and a circular support plate 63, the landing gear 61 is an electric telescopic rod, the middle part of the upper end of the support plate 63 and the lower end of the plunger rod of the electric telescopic rod 61 are connected through a screw and nut, the right end of the support plate 61 has a through hole, the housing of the photoelectric switch 62 is vertically installed in the through hole, and the detection head of the photoelectric switch 62 faces the lower side end; the upper ends of the cylinders of the electric telescopic rods 61 of the four sets of automatic landing gears are respectively installed around the lower end housing of the drone body 1 through screws and nuts; the wireless prompt circuit 2, the wireless control circuit 5, the power switch 3, and the voltage stabilizing module 4 are installed in the lower front end of the housing of the drone body 1; the wireless remote control circuit 7 and the wireless feedback circuit 8 are installed in the remote control housing of the drone body.

[0016] Figure 1 , 2As shown in , 3, the wireless prompt circuit includes a photoelectric switch A1, a wireless transmitter module A2 of model SF1500 (working frequency 315MHz, wireless signal transmission distance 1500 meters), and a relay K, which are electrically connected via a wire. The housing of the photoelectric switch A1 is vertically installed at the middle of the lower end of the outer side of the housing of the drone body 1 through a screw nut, and its detection head faces the lower end. The positive power input terminal of the photoelectric switch A1 is connected to the positive power input terminal 1 pin of the wireless transmitter module A2, the positive power output terminal 3 pin of the photoelectric switch A1 is connected to the positive power input terminal of the relay K, the negative power input terminal 2 pin of the photoelectric switch A1 is connected to the negative power input terminal 2 pin of the wireless transmitter module A2, and the relay K The negative power input terminal is connected, and the control contact terminal of the relay K, the normally open contact terminal and the two contacts under the first wireless signal transmitting button S1 of the wireless transmitting module A2 are respectively connected; the wireless transmitting module finished product A2 (working frequency 315MHz) has four transmitting buttons, which can transmit four wireless signals with different codes when pressed respectively. The wireless transmitting module finished product A2 has a coding circuit inside, and the coding circuit coding can prevent the wireless signals transmitted by wireless transmitting modules with different codes from interfering with each other; the photoelectric switch A1 is a long-distance reflective photoelectric switch finished product of model E3F-DS200C4, which has two power input terminals 1 and 2 and a high level output terminal 3. When working, according to different selections, the infrared beam emitted linearly by the transmitting head of the front end detection head below it is blocked by an object, and the high level output terminal outputs a high level after the receiving head at the front end of the detection head receives it. When there is no object blocking it, no high level is output. The farthest detection distance is 200cm, and an adjustment knob is provided in the upper side end of the shell. When the adjustment knob is adjusted to the left, the detection distance becomes closer, and when it is adjusted to the right, the detection distance becomes farther. The power switch S is a toggle power switch, and its operating handle is located outside the front side of the shell of the drone body. The voltage regulator module A10 is a finished DC-DC power module with model SUNLEPHANT, input voltage 4-32V, output voltage 1.2-32V continuously adjustable, and power 200W.The wireless control circuit includes a wireless receiving circuit module finished product A3 of model SF1500 (working frequency 315MHz), resistors R1 and R2, NPN transistors Q1 and Q2, and relays K1 and K6. The wireless receiving circuit module finished product A3 has four output terminals and one pulse output terminal. The wireless receiving circuit module A3 has an encoding circuit inside. The encoding circuit can prevent wireless receiving circuit modules that are not encoded from interfering with each other when receiving wireless signals. The two output terminals 4 and 5 of the wireless receiving circuit module A3 are respectively connected to one end of the two resistors R1 and R2, the other ends of the two resistors R1 and R2 are respectively connected to the bases of the two NPN transistors Q1 and Q2, the collectors of the two NPN transistors Q1 and Q2 are respectively connected to the negative power input terminals of the two relays K1 and K6, the negative control power input terminals of the two relays K1 and K6 are connected to the emitters of the two NPN transistors Q1 and Q2, and the positive power input terminal 1 of the wireless receiving circuit module A3 is connected to the positive poles and control power input terminals of the two relays K1 and K6.

[0017] Figure 1 , 2As shown in Figure 3, in each automatic landing gear mechanism, the photoelectric switch A4 (or A5, A6, A7) is also equipped with a relay K2 (or K3, K4, K5), which are connected by wires. The positive power input terminal 1 of the photoelectric switch A4 (or A5, A6, A7) is connected to the positive control power input terminal of the relay K2, and the negative power input terminal of the photoelectric switch A4 (or A5, A6, A7) is connected to the relay K2 (or K3, K4, K5). The negative pole and the negative pole control power input terminal are connected, the positive power output terminal 3 pin of the photoelectric switch A4 (or A5, A6, A7) is connected to the positive power input terminal of the relay K2, and the two normally open contact terminals of the relay K2 (or K3, K4, K5) are connected to the positive and negative power input terminals of the electric telescopic rod M (or M1, M2, M3) respectively; the electric telescopic rod M (or M1, M2, M3) is a finished electric push rod of model PXTL and working voltage DC 12V. The electric push rod M (or M1, M2, M3) is a finished electric push rod of model PXTL and working voltage DC 12V. 3) It includes a motor and a multi-stage reduction gear inside the cylinder. When working, after the positive and negative poles of the motor are energized, under the action of the reduction gear, the plunger rod of the electric push rod will move downward, and the stroke is 50cm. After the positive and negative poles of the motor are energized, under the action of the reduction gear, the plunger rod of the electric push rod M (or M1, M2, M3) will move upward. There is a limit switch inside the electric push rod. When the plunger rod moves to the top dead center and the bottom dead center, the motor will lose power and the plunger rod will no longer move. Only when the power is reversed will the plunger rod move again. During operation, depending on the selected type, the photoelectric switch A4 (or A5, A6, A7) does not output a high level when the infrared light beam emitted in a straight line by the transmitter head of the detection head at the front lower end is blocked by an object and received by the receiving head at the front end of the detection head. It outputs a high level when there is no object blocking it. The maximum detection distance is 200 cm (150 cm in this embodiment, model E3F-DS200C4). The wireless remote control circuit A8 is a finished wireless transmitting circuit module of model SF1500. The coding of the encoding circuit of the wireless remote control circuit A8 is consistent with the coding circuit coding of the wireless receiving circuit module A3 of the wireless control circuit. The wireless feedback circuit includes a wireless receiving circuit module A9 of model SF1500, a resistor R3 and a light emitting diode VL. The output terminal 4 pin of the wireless receiving circuit module A9 is connected to one end of the resistor R3, the other end of the resistor R3 is connected to the positive electrode of the light emitting diode VL, the negative power input terminal 3 pin of the wireless receiving circuit module A9 is connected to the negative power input terminal of the light emitting diode VL, the light emitting surface of the light emitting diode VL is located outside the remote control shell of the drone body, and the encoding circuit coding of the wireless receiving circuit module A9 is consistent with the encoding circuit coding of the wireless transmitting module A2 of the wireless prompt circuit.

[0018] Figure 1 , 2As shown in 3, the positive electrode of the battery G in the drone body and one end of the power switch S are connected via a wire, the other end of the power switch S, the negative electrode of the battery G and the positive and negative power input terminals 1 and 2 of the voltage regulator module A10 are connected via wires respectively, the power output terminals 3 and 4 of the voltage regulator module A10 and the 1 and 2 pins of the photoelectric switch A1 at both ends of the power input of the wireless prompt circuit, and the positive power input terminal and the negative control power input terminal of the relay K6 at both ends of the power input of the wireless control circuit are connected via wires respectively; the two normally open contact terminals of the two power output terminals of the wireless control circuit, the two normally open contact terminals of the relay K6 and the four sets of photoelectric switches A4 (A5, A6, A7) of the four sets of automatic landing gear mechanisms The power input ends 1 and 2 of the remote control and the negative and positive power input ends of the electric telescopic rods M (or M1, M2, M3) of the four sets of automatic landing gear mechanisms are connected via wires respectively; the two poles of the battery G1 in the remote control of the drone body and the power input ends 1 and 2 of the wireless remote control circuit A8, and the power input ends 1 and 3 of the wireless receiving circuit module A9 of the wireless feedback circuit are connected via wires respectively.

[0019] Figure 1 , 2As shown in Figure 3, after turning on the power switch S, the power output of the battery G in the drone body enters the power supply terminals of the voltage regulator module A10, and the 3 and 4 pins of the voltage regulator module A10 output a stable 12V power supply that enters the power input terminals of the wireless prompt circuit and the wireless control circuit. As a result, the wireless prompt circuit and the wireless control circuit are in a powered working state. After the 12V power output of the battery G1 in the remote controller of the drone body enters the power input terminals of the wireless remote control circuit and the wireless feedback circuit, the wireless remote control circuit and the wireless feedback circuit are in a powered working state. In the application, when the drone body 1 is landing, when the distance from the ground (the lower end of the shell of the drone body 1) is less than 1.8 meters, the infrared beam emitted from the detection head of the photoelectric switch A1 is blocked, and its 3rd foot will output a high level and enter the positive power input terminal of the relay K. Therefore, the relay K is energized to attract its control contact end and the normally open contact end to close, and then the two contacts under the first wireless signal transmission button S1 of the wireless transmission module finished product A2 are closed, and the wireless transmission module finished product A2 transmits the first wireless closing signal (the wireless signal transmission distance is 1500 meters); after the wireless receiving circuit module A9 located at the operator receives the first wireless signal, its 4th foot outputs a high level and enters the positive electrode of the light-emitting diode VL through the resistor R3 to reduce the voltage and limit the current, so that the light-emitting diode VL is energized to emit light. After the operator sees the light-emitting diode VL, he can know that the drone body is close to 1.8 meters from the ground, and then the operator operates the drone body 1 to temporarily keep hovering, keeping a distance of about 1.8 meters from the ground. At the same time, the operator sends a control signal through the wireless remote control circuit (press the first wireless signal transmission button S1 of the wireless remote control circuit A8, and the wireless remote control circuit A8 transmits the first wireless closing signal). After the wireless receiving circuit module A3 located at the drone body 1 receives the wireless signal, its 4th pin will output a high level, which will enter the base of the NPN transistor Q1 through the resistor R1 to reduce the voltage and limit the current. Therefore, the collector of the NPN transistor Q1 is turned on and the output of the low level enters the negative power input terminal of the relay K1. The relay K1 is energized to attract its two control power input terminals and two normally open contact terminals to close respectively. Since the two normally open contact terminals of the relay K1 and the power input terminals 1 and 2 of the photoelectric switches A4 (A5, A6, A7) of the four sets of automatic landing gear mechanisms are connected respectively, the photoelectric switches A4 (A5, A6, A7) will be in the energized working state at this moment. The remote operator presses the transmission button of the wireless remote control circuit A8, and after an interval of 6 seconds, the drone body is operated to continue landing.Within 5 seconds of 6 seconds, among the photoelectric switches of the four sets of automatic landing gear mechanisms (the normal ground clearance of the lower end is about 1.5 meters), if the ground height is uneven at one, two, three or four places around the lower end of the UAV body shell (the ground clearance is greater than about 1.5 meters), at this moment, the photoelectric switches A4 (or A5, A6, A7) at one, two, three or four places around the lower end of the UAV body shell will output a high level into the positive power input terminal of the relay K2 (or K3, K4, K5), so that the relay K2 (or K3, K4, K5) is energized to close its two control power input terminals and two normally open contact terminals, respectively. Since the two normally open contact ends of the relay K2 (or K3, K4, K5) are respectively connected to the positive and negative power input ends of the electric telescopic rod M (or M1, M2, M3), the electric telescopic rod M (or M1, M2, M3) will be powered to work at this moment, and its plunger rod will move downward and drive the support plate 63 downward, so the distance between the lower end of the support plate 63 and the ground is shortened. When the distance between the lower end of the detection head of the photoelectric switch A4 (or A5, A6, A7) and the ground is just less than 1.5 meters, the 3rd pin of the photoelectric switch A4 (or A5, A6, A7) no longer outputs a high level, and then, the relay K2 (or K3, K4, K5) loses power, and the electric telescopic rod M (or M1, M2, M3) no longer works. The remote operator presses the transmit button of the wireless remote control circuit A8, and after an interval of 6 seconds, presses the transmit button S1 of the wireless remote control circuit A8 again, so that the wireless remote control circuit A8 transmits a wireless open circuit signal. After the wireless receiving circuit module A3 receives the open circuit signal, its 4th foot stops outputting a high level, and the relay K1 loses power, and then the four sets of photoelectric switches and electric telescopic rods will all lose power. The remote operator presses the transmit button of the wireless remote control circuit A8, and after an interval of 6 seconds, the drone body continues to land. Because the four sets of automatic landing gear mechanisms are under their own function, the heights of the four support plates will be different when the ground height is different. After the operator operates the drone to descend, the drone body can be kept as level as possible with the ground after landing, thereby minimizing the probability of the drone tipping over and being damaged due to unbalanced weight.

[0020] Figure 1 , 2As shown in Figure 3, each time the drone body 1 of the present invention lands, or before the next use, it is necessary to press the second wireless transmission button S2 of the wireless remote control panel A8 (to transmit the second wireless closing signal). After the wireless receiving circuit module A3 located at the drone body 1 receives the wireless signal, its 5-pin will output a high level, which will enter the base of the NPN transistor Q2 through the resistor R2 for voltage reduction and current limiting. Then, the NPN transistor Q2 is turned on and its collector outputs a low level, which enters the negative power input terminal of the relay K6. The relay K6 is energized to attract its two control power input terminals and two normally open contact terminals to close. Since the two normally open contact ends of the relay K6 are connected to the positive and negative poles of the electric telescopic rods M (M1, M2, M3) of the four sets of automatic landing gear mechanisms, the electric telescopic rods M (or M1, M2, M3) will be powered to work at this moment, and their plunger rods will move upward and drive the support plate 63 upward, so the plunger rods of the electric telescopic rods M (or M1, M2, M3) will be recovered to the stop point to prepare for the next use; when the plunger rods of the electric telescopic rods M (or M1, M2, M3) are recovered to the stop point, the operator presses the second wireless transmission button S2 of the wireless remote control panel A8 again (transmitting the second wireless open-circuit signal), so the 5th foot of the wireless receiving circuit module A3 no longer outputs a high level, and then the relay K6 loses power, and the electric telescopic rods M (or M1, M2, M3) lose power to prepare for the next smooth landing of the UAV. The resistance values ​​of resistors R1, R2, and R3 are 1K, 1K, and 1.8K respectively; the models of NPN transistors Q1, Q2, and Q3 are 9013; relays K, K1, K6, K2, K3, K4, and K5 are DC12V relays; and the light-emitting diode VL is a red light-emitting diode.

[0021] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present invention.

[0022] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in the embodiments may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A multi-sensor based precision landing drone, comprising a drone body, characterized in that It also has a wireless prompt circuit, a power switch, a voltage stabilizing module, a wireless control circuit, an automatic landing gear mechanism, a wireless remote control circuit, and a wireless feedback circuit; the automatic landing gear mechanism has multiple identical sets, each set includes a landing gear, a photoelectric switch, and a support plate, the landing gear is an electric telescopic rod, the support plate is connected to the lower end of the electric telescopic rod, the side end of the support plate has a through hole, and the photoelectric switch is vertically installed in the through hole; the upper ends of the electric telescopic rods of the multiple sets of automatic landing gears are respectively installed around the lower end of the shell of the UAV body; the wireless prompt circuit, wireless control circuit, power switch, and voltage stabilizing module are installed in the shell of the UAV body; the power input ends of the battery in the UAV body and the voltage stabilizing module are electrically connected respectively, and the power output ends of the voltage stabilizing module and the wireless prompt circuit are electrically connected. The power input ends of the indication circuit and the wireless control circuit are electrically connected respectively; the two power output ends of the wireless control circuit are electrically connected to the power input ends of multiple sets of automatic landing gear mechanisms respectively; the wireless remote control circuit and the wireless feedback circuit are installed in the remote control of the drone body; the two poles of the battery in the remote control of the drone body are electrically connected to the power input ends of the wireless remote control circuit and the wireless feedback circuit respectively; the wireless prompt circuit includes a photoelectric switch, a wireless transmission module, and a relay, which are connected by wires. The photoelectric switch is vertically installed at the lower end of the outer side of the shell of the drone body, the positive power input end of the photoelectric switch is connected to the positive power input end of the wireless transmission module, and the positive power output end of the photoelectric switch is connected to the positive power input end of the relay. The negative power input terminal of the photoelectric switch is connected to the negative power input terminal of the wireless transmitting module and the negative power input terminal of the relay. The relay control contact terminal, the normally open contact terminal and the two contacts under the first wireless signal transmitting button of the wireless transmitting module are respectively connected. The wireless control circuit includes a wireless receiving circuit module, a resistor, an NPN transistor and a relay. The two output terminals of the wireless receiving circuit module are respectively connected to one end of the two resistors, the other ends of the two resistors are connected to the bases of the two NPN transistors, the collectors of the two NPN transistors are respectively connected to the negative power input terminals of the two relays, the negative control power input terminals of the two relays are connected to the emitters of the two NPN transistors, the positive power input terminal of the wireless receiving circuit module is connected to the positive poles of the two relays and the control The power input terminal is connected; in each set of automatic landing gear mechanism, the photoelectric switch is also equipped with a relay, which is connected via a wire, the positive power input terminal of the photoelectric switch is connected to the positive control power input terminal of the relay, the negative power input terminal of the photoelectric switch is connected to the negative pole and the negative control power input terminal of the relay, the positive power output terminal of the photoelectric switch is connected to the positive power input terminal of the relay, and the two normally open contact terminals of the relay are respectively connected to the positive and negative power input terminals of the electric telescopic rod; the wireless feedback circuit includes a wireless receiving circuit module, a resistor and a light-emitting diode, the output terminal of the wireless receiving circuit module is connected to one end of the resistor, the other end of the resistor is connected to the positive pole of the light-emitting diode, and the negative power input terminal of the wireless receiving circuit module is connected to the negative power input terminal of the light-emitting diode.

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