Acoustic detection unmanned rotorcraft and detection control method

Abstract

The invention discloses a sound detection rotor unmanned aerial vehicle and a detection control method, the sound detection rotor unmanned aerial vehicle comprises a moving mechanism, the moving mechanism comprises an unmanned aerial vehicle body, two limiting frames and a limiting part, the two limiting frames are fixedly connected to the outer surfaces of the two sides of the unmanned aerial vehicle body respectively, and the limiting part is arranged on the two limiting frames. During use, existing sound detection equipment is mounted in the mounting frame, a proper amount of safe gas capable of enabling the balloon to float is injected into the balloon body, so that the balloon body can pull the detection mechanism to slowly rise through the pulling rope, and then the detection mechanism can be adjusted by controlling the adjusting motor; an adjusting motor can drive an adjusting worm to rotate through a first adjusting gear and a second adjusting gear, then the rotating adjusting worm is matched with an adjusting worm gear to drive a linkage shaft to rotate, and then the linkage shaft can drive a moving wheel to rotate; and the rotating moving wheel can move the traction rope to ascend or descend.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle equipment, and in particular relates to an acoustic detection rotor unmanned aerial vehicle and a detection control method. Background Art

[0002] Unmanned aerial vehicles, also known as "drones", are unmanned aircraft that are controlled by radio remote control equipment and self-contained program control devices, or are operated completely or intermittently autonomously by on-board computers.

[0003] However, in the prior art, the actual blades of the rotor UAV are relatively small, resulting in the actual blade rotation speed being too fast, which in turn causes the actual operating noise of the existing rotor UAV to be relatively large. In order to obtain accurate detection results, the existing sound detection equipment needs to reduce the interference of external noise. The existing rotor UAV has a relatively large operating noise, so the closer the existing sound detection equipment is to the existing rotor UAV, the greater the impact. If it is far away from the existing rotor UAV, it is easily affected by the external environment, which makes the detection angle difficult to adjust, resulting in poor actual detection effect. Summary of the invention

[0004] The purpose of the present invention is to provide an acoustic detection rotor UAV and a detection control method that can reduce the influence of the operation of the UAV body on acoustic detection, improve the actual detection accuracy, and facilitate acoustic detection processing.

[0005] The technical solution adopted by the present invention is as follows: an acoustic detection rotor UAV, comprising: a moving mechanism, the moving mechanism comprising a UAV body, a limit frame and a limit component, the limit frames are provided with two, the two limit frames are respectively fixedly connected to the outer surfaces of both sides of the UAV body, and the limit component is provided on the two limit frames;

[0006] The adjustment mechanism includes two guide tubes, an adapter frame and an adjustment component. Each guide tube is rotatably connected between the opposite inner walls on both sides of the corresponding limit frame. The adapter frame is rotatably connected between the opposite outer surfaces of the two guide tubes. The adjustment component is arranged on the adapter frame.

[0007] A traction mechanism, the traction mechanism comprising a balloon body, a distance bar and two traction ropes, a sealing block is fixedly connected between one ends of the two traction ropes, the balloon body is fixedly connected to the top of the sealing block, and the distance bar is sleeved between the outer surfaces of the two traction ropes; and

[0008] The detection mechanism includes a base frame, a mounting frame and a positioning component. The base frame is fixedly connected to the bottom ends of the two traction ropes. A steering ball rod is slidably inserted into the bottom surface of the base frame. The mounting frame is rotatably connected to the bottom end of the steering ball rod. The positioning component is arranged on the base frame and the mounting frame.

[0009] Among them, there are two groups of limiting components, each group of limiting components includes four reset frames, the four reset frames are respectively fixedly connected to the inner walls on both sides of the corresponding limiting frames, a supporting spring is arranged inside each reset frame, and an adjusting rod is slidably inserted at one end of each reset frame.

[0010] Among them, the adjusting component includes a connecting shaft, a movable frame and an adjusting motor, the connecting shaft is rotatably connected between the opposite inner walls on both sides of the adapter frame, both ends of the connecting shaft extend to the outside of the adapter frame, and the outer surface of the connecting shaft near the edges of both ends is sleeved with movable wheels, the movable frame is slidably sleeved on the outer surface of the connecting shaft, and the top of the movable frame and the inner top surface of the adapter frame are slidably engaged, the outer surfaces of both sides of the movable frame are rotatably connected with limiting wheels, the adjusting motor is fixedly connected to the inner bottom surface of the adapter frame, and the output end of the adjusting motor is sleeved with a first adjusting gear.

[0011] Among them, the outer surface of the connecting shaft is sleeved with an adjusting worm wheel, the abnormal outer surface of the adapter frame is rotatably connected with an adjusting worm, the adjusting worm is meshed with the adjusting worm wheel, the bottom end of the adjusting worm is sleeved with a second adjusting gear, and the second adjusting gear is meshed with the first adjusting gear.

[0012] Wherein, an adjusting bolt is rotatably connected to the outer surface of one side of the movable frame, the adjusting bolt is threadedly connected to the adapter frame, and a guide rod is fixedly connected to the bottom of the adapter frame.

[0013] Among them, one end of each traction rope slides through the corresponding guide tube, one end of each traction rope is inserted between the corresponding moving wheel and the limiting wheel, one end of each traction rope slides through the top of the adapter frame, and one end of the two traction ropes slides through the guide rod.

[0014] Among them, a plurality of counterweight sliders are equidistantly provided on the sliding sleeves between the outer surfaces of the two traction ropes, and one end of each adjustment rod is respectively fitted with the outer surface of the corresponding guide tube.

[0015] Wherein, the positioning component includes a rotating frame, a steering wheel and a steering motor, the outer surface of the rotating frame is sleeved with a first rotating gear, the rotating frame is rotatably connected to the top surface of the inner part of the base frame, the outer surface of one side of the rotating frame is threadedly connected with a positioning bolt, the bottom end of the positioning bolt is rotatably connected with a push piece, the steering wheel is slidably inserted into the rotating frame, and one end of the steering wheel slides through the push piece, the output end of the steering motor extends to the inside of the base frame, the output end of the steering motor is sleeved with a second rotating gear, and the second rotating gear is meshed with the first rotating gear.

[0016] Among them, a driving motor is fixedly connected to the outer surface of one side of the push plate, the output end of the driving motor is fixedly connected to one end of the steering wheel, a plurality of supporting beads are equidistantly slidably embedded on the inner bottom surface of the chassis, a fixed gear is sleeved on the outer surface of the steering ball rod, a rotating motor is fixedly connected to the top of the mounting frame, a steering gear is sleeved on the output end of the rotating motor, and the steering gear is meshed with the fixed gear.

[0017] A detection and control method for an acoustic detection rotor drone comprises the following steps:

[0018] S1. Operation adjustment: install the existing acoustic detection equipment inside the installation frame, and inject a proper amount of safe gas that can make the balloon float into the balloon body, so that the balloon body can slowly rise by pulling the detection mechanism through the traction rope, and then control the adjustment motor to drive the adjustment worm to rotate through the first adjustment gear and the second adjustment gear, and then the rotating adjustment worm cooperates with the adjustment worm wheel to drive the connecting shaft to rotate, and then the connecting shaft can drive the moving wheel to rotate, and at the same time, under the extrusion cooperation of the limit wheel, the rotating moving wheel can move the traction rope up or down. When heading to the designated detection area, control the adjustment motor to move the traction rope down until the distance limit bar fits the top of the two guide tubes to ensure that the balloon body can be as close to the upper and lower ends as possible. The traction rope is pulled close to the drone body, so that the drone body can be easily controlled to move to the specified detection position, and then the adjustment motor is operated in the reverse direction, so that the moving wheel can drive the traction rope to rise, and at the same time, under the traction of the balloon body, the balloon body is gradually moved away from the drone body, and at the same time, the traction rope pulls the chassis to move toward the guide rod until the top of the uppermost counterweight slider fits with the bottom of the guide rod. At this time, under the position restriction of the traction rope, the chassis will squeeze the adjacent counterweight sliders to fit closely to each other, and then the traction rope under the guide rod is not easy to bend and shake, ensuring the stability of the position of the detection mechanism. At this time, the installation frame keeps a certain distance from the drone body, effectively reducing the impact of the operation of the drone body on the sound detection, so that the existing sound detection equipment set inside the installation frame can efficiently perform detection and processing;

[0019] S2. Detection adjustment: Under the traction of the balloon body, the load pressure of the drone body when it is hovering can be reduced, and the actual operating time of the drone body can be extended. At the same time, by controlling the steering motor and the drive motor, the steering motor can adjust the use angle of the turn frame through the second rotating gear and the first rotating gear, so that the turn frame can adjust the use angle of the steering wheel. At this time, the drive motor will drive the steering wheel to rotate, so that the rotating steering wheel can squeeze and drive the steering ball rod to change the longitudinal use angle. By controlling the start of the rotating motor, the rotating motor drives the steering gear to rotate, and then under the position limit of the fixed gear, the installation frame can be deflected at the horizontal use angle, so that the equipment can conveniently adjust the detection angle of the existing sound detection equipment inside the installation frame according to actual detection needs.

[0020] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0021] (1) In the present invention, when in use, the existing acoustic detection equipment is installed inside the installation frame, and an appropriate amount of safe gas that can make the balloon float is injected into the balloon body to achieve a degree that the balloon body can slowly rise by pulling the detection mechanism through the traction rope, and then by controlling the adjustment motor, the adjustment motor can drive the adjustment worm to rotate through the first adjustment gear and the second adjustment gear, and then the rotating adjustment worm cooperates with the adjustment worm wheel to drive the connecting shaft to rotate, and then the connecting shaft can drive the moving wheel to rotate. At the same time, under the extrusion cooperation of the limit wheel, the rotating moving wheel can move the traction rope up or down. When heading to the designated detection area, the adjustment motor is controlled to move the traction rope down until the distance limit bar fits the top of the two guide tubes, ensuring that the balloon body can be as close to the drone body as possible. , and then it is convenient to control the drone body to move to the specified detection position, and then reverse the adjustment motor, so that the moving wheel can drive the traction rope to rise, and at the same time, under the traction of the balloon body, the balloon body is gradually away from the drone body, and the traction rope pulls the chassis to move toward the guide rod until the top of the uppermost counterweight slider fits with the bottom of the guide rod. At this time, under the position restriction of the traction rope, the chassis will squeeze the adjacent counterweight sliders to fit tightly against each other, and then the traction rope under the guide rod is not easy to bend and shake, ensuring the stability of the position of the detection mechanism. At this time, the installation frame keeps a certain distance from the drone body, effectively reducing the impact of the drone body operation on the sound detection, and then the existing sound detection equipment set inside the installation frame can efficiently perform detection processing, so that the equipment can efficiently realize its due functions.

[0022] (2) In the present invention, when in use, under the traction of the balloon body, the load pressure of the drone body when hovering can be reduced, thereby extending the actual operating time of the drone body. At the same time, by controlling the steering motor and the driving motor, the steering motor can adjust the use angle of the rotating frame through the second rotating gear and the first rotating gear, so that the rotating frame can adjust the use angle of the steering wheel. At this time, the driving motor will drive the steering wheel to rotate, so that the rotating steering wheel can squeeze and drive the steering ball rod to change the longitudinal use angle. By controlling the start of the rotating motor, the rotating motor drives the steering gear to rotate, and then under the position limit of the fixed gear, the installation frame can be deflected at the horizontal use angle, so that the equipment can conveniently adjust the detection angle of the existing sound detection equipment inside the installation frame according to the actual detection needs, so that the equipment can efficiently realize the required functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a first perspective stereogram of the present invention;

[0024] Figure 2 It is a second viewing angle stereogram of the present invention;

[0025] Figure 3 It is a third perspective stereogram of the present invention;

[0026] Figure 4 It is a cutaway perspective view of the mobile mechanism of the present invention;

[0027] Figure 5 For the present invention Figure 4 Enlarged view of part A;

[0028] Figure 6 It is a three-dimensional diagram of the adjustment mechanism of the present invention;

[0029] Figure 7 For the present invention Figure 6 Enlarged view of part B;

[0030] Figure 8 It is a three-dimensional diagram of the traction mechanism of the present invention;

[0031] Fig. 9 For the present invention Figure 8 Enlarged view of part C in the middle;

[0032] Fig.10 For the present invention Figure 8 Enlarged view of part D in the middle;

[0033] Fig.11 It is a cutaway stereoscopic diagram of the detection mechanism of the present invention;

[0034] Fig.12 For the present invention Fig.11 Enlarged view of part E in the middle.

[0035] Markings in the figure: 1. moving mechanism; 101. drone body; 102. limit frame; 103. reset frame; 104. support spring; 105. adjustment rod; 2. adjustment mechanism; 201. guide tube; 202. adapter frame; 203. linkage shaft; 204. moving wheel; 205. moving frame; 206. limit wheel; 207. adjustment bolt; 208. adjustment motor; 209. first adjustment gear; 210. guide rod; 3. , traction mechanism; 301, distance bar; 302, traction rope; 303, sealing block; 304, balloon body; 305, counterweight slider; 4, detection mechanism; 401, base frame; 402, rotating frame; 403, push piece; 404, steering wheel; 405, driving motor; 406, steering motor; 407, second rotating gear; 408, steering ball rod; 409, supporting bead; 410, mounting frame; 411, rotating motor. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0037] Example 1, please refer to Figure 1-3 , an acoustic detection rotor UAV, consists of a moving mechanism 1, an adjusting mechanism 2, a traction mechanism 3 and a detection mechanism 4.

[0038] The details are as follows:

[0039] See also Figure 4 and Figure 5 The mobile mechanism 1 includes a drone body 101, a limit frame 102 and a limit component. There are two limit frames 102, which are fixedly connected to the outer surfaces of both sides of the drone body 101, respectively. The limit components are arranged on the two limit frames 102. There are two groups of limit components, each group of limit components includes four reset frames 103, which are fixedly connected to the inner surface walls of both sides of the corresponding limit frames 102, respectively. A support spring 104 is arranged inside each reset frame 103, and an adjustment rod 105 is slidably inserted at one end of each reset frame 103. The support spring 104 squeezes and supports the adjustment rod 105, so that the adjustment rod 105 can provide a support and limit effect.

[0040] See also Figure 6 and Figure 7The adjusting mechanism 2 includes two guide tubes 201, an adapter frame 202 and an adjusting component. Each guide tube 201 is rotatably connected between the inner walls on both sides of the corresponding limit frame 102. The adapter frame 202 is rotatably connected between the outer surfaces of the two guide tubes 201. The adjusting component is arranged on the adapter frame 202. The adjusting component includes a linkage shaft 203, a moving frame 205 and an adjusting motor 208. The linkage shaft 203 is rotatably connected between the inner walls on both sides of the adapter frame 202. The ends of the two ends extend to the outside of the adapter frame 202, and the outer surface of the linkage shaft 203 near the edges of both ends are sleeved with moving wheels 204, the moving frame 205 is slidably sleeved on the outer surface of the linkage shaft 203, and the top of the moving frame 205 is slidably engaged with the inner top surface of the adapter frame 202, and the outer surfaces of both sides of the moving frame 205 are rotatably connected to the limiting wheels 206, the adjustment motor 208 is fixedly connected to the inner bottom surface of the adapter frame 202, and the output end of the adjustment motor 208 is sleeved with a first adjustment gear 209, and the outer surface of the linkage shaft 203 is sleeved An adjusting worm wheel is provided, and an adjusting worm is rotatably connected to the abnormal outer surface of the adapter frame 202, and the adjusting worm is meshed with the adjusting worm wheel. A second adjusting gear is sleeved on the bottom end of the adjusting worm, and the second adjusting gear is meshed with the first adjusting gear 209. An adjusting bolt 207 is rotatably connected to the outer surface of one side of the mobile frame 205, and the adjusting bolt 207 is threadedly connected to the adapter frame 202. A guide rod 210 is fixedly connected to the bottom of the adapter frame 202, and the guide tube 201 can limit the extension direction of the traction rope 302 under the support of the adjusting rod 105. direction, preventing the traction rope 302 from colliding with the blades of the drone body 101, and controlling the adjustment motor 208 so that the adjustment motor 208 can drive the adjustment worm to rotate through the first adjustment gear 209 and the second adjustment gear, and then the rotating adjustment worm cooperates with the adjustment worm wheel to drive the linkage shaft 203 to rotate, and then the linkage shaft 203 can drive the moving wheel 204 to rotate, and at the same time, under the extrusion cooperation of the limiting wheel 206, the rotating moving wheel 204 can move the traction rope 302 up or down;

[0041] See also Figure 8-Figure 10The traction mechanism 3 includes a balloon body 304, a distance bar 301 and two traction ropes 302. A sealing block 303 is fixedly connected between one end of the two traction ropes 302. The balloon body 304 is fixedly connected to the top of the sealing block 303. The distance bar 301 is sleeved between the outer surfaces of the two traction ropes 302. One end of each traction rope 302 slides through the corresponding guide tube 201. One end of each traction rope 302 is inserted between the corresponding moving wheel 204 and the limiting wheel 206. One end of each traction rope 302 slides through the top of the adapter frame 202. , one end of each of the two traction ropes 302 slides through the guide rod 210, and a plurality of weight sliders 305 are equidistantly slidably sleeved between the outer surfaces of the two traction ropes 302, and one end of each adjustment rod 105 is respectively fitted with the outer surface of the corresponding guide tube 201, and by injecting an appropriate amount of safe gas that can make the balloon float into the balloon body 304, the balloon body 304 can be pulled by the traction rope 302 to slowly rise the detection mechanism 4, and then under the traction of the balloon body 304, the load pressure of the drone body 101 when it is hovering can be reduced;

[0042] See also Fig.11 and Fig.12The detection mechanism 4 includes a base frame 401, a mounting frame 410 and a positioning component. The base frame 401 is fixedly connected to the bottom ends of the two traction ropes 302. A steering ball rod 408 is slidably inserted into the bottom surface of the base frame 401. The mounting frame 410 is rotatably connected to the bottom end of the steering ball rod 408. The positioning component is arranged on the base frame 401 and the mounting frame 410. The positioning component includes a rotating frame 402, a steering wheel 404 and a steering motor 406. The outer surface of the rotating frame 402 is sleeved with a first rotating gear. The rotating frame 402 is rotatably connected to the top of the base frame 401. The outer surface of one side of the rotating frame 402 is threadedly connected with a positioning bolt, and the bottom end of the positioning bolt is rotatably connected with a push piece 403, a steering wheel 404 is slidably inserted into the rotating frame 402, and one end of the steering wheel 404 slides through the push piece 403, the output end of the steering motor 406 extends to the inside of the bottom frame 401, and the output end of the steering motor 406 is sleeved with a second rotating gear 407, the second rotating gear 407 is meshed with the first rotating gear, and the outer surface of one side of the push piece 403 is fixedly connected with a driving motor 405, and the output end of the driving motor 405 and the rotating frame 402 are connected. One end of the steering wheel 404 is fixedly connected, and a plurality of support beads 409 are equidistantly slidably embedded on the inner bottom surface of the chassis 401. A fixed gear is sleeved on the outer surface of the steering ball rod 408. A rotating motor 411 is fixedly connected to the top of the mounting frame 410. A steering gear is sleeved on the output end of the rotating motor 411. The steering gear and the fixed gear are meshed. By controlling the steering motor 406 and the driving motor 405, the steering motor 406 can adjust the use angle of the rotating frame 402 through the second rotating gear 407 and the first rotating gear, so that the rotating frame 402 can adjust the use angle of the steering wheel 404. At this time, the driving motor 405 will drive the steering wheel 404 to rotate, so that the rotating steering wheel 404 can squeeze and drive the steering ball rod 408 to change the longitudinal use angle. By controlling the start of the rotating motor 411, the rotating motor 411 drives the steering gear to rotate, and then under the position limit of the fixed gear, the mounting frame 410 can be deflected at the horizontal use angle, so that the equipment can conveniently adjust the detection angle of the existing sound detection equipment inside the mounting frame 410 according to the actual detection needs.

[0043] The following is a detailed description of a detection and control method for an acoustic detection rotor UAV provided by an embodiment of the present invention, and its use method includes the following steps:

[0044] Step 1: Operation adjustment: install the existing acoustic detection equipment inside the installation frame 410, and inject an appropriate amount of safe gas that can make the balloon float into the balloon body 304, so that the balloon body 304 can slowly rise by pulling the detection mechanism 4 through the traction rope 302, and then control the adjustment motor 208 to make the adjustment motor 208 drive the adjustment worm to rotate through the first adjustment gear 209 and the second adjustment gear, and then make the rotating adjustment worm cooperate with the adjustment worm wheel to drive the linkage shaft 203 to rotate, and then make the linkage shaft 203 drive the moving wheel 204 to rotate, and at the same time, under the extrusion cooperation of the limiting wheel 206, the rotating moving wheel 204 can move the traction rope 302 up or down, and when heading to the designated detection area, control the adjustment motor 208 to move the traction rope 302 down until the distance limit bar 301 fits the top of the two guide tubes 201, to ensure that the balloon body 304 can be as close to the drone body 101 as possible, so as to facilitate Control the drone body 101 to move to the specified detection position, and then reversely operate the adjustment motor 208, so that the moving wheel 204 can drive the traction rope 302 to rise. At the same time, under the traction of the balloon body 304, the balloon body 304 is gradually away from the drone body 101. At the same time, the traction rope 302 pulls the base frame 401 to move toward the guide rod 210 until the top of the uppermost counterweight slider 305 fits with the bottom of the guide rod 210. At this time, under the position restriction of the traction rope 302, the base frame 401 will squeeze the adjacent counterweight sliders 305 to fit closely with each other, and then the traction rope 302 under the guide rod 210 is not easy to bend and shake, ensuring the position of the detection mechanism 4 is stable. At this time, the installation frame 410 keeps a certain distance from the drone body 101, effectively reducing the influence of the operation of the drone body 101 on the sound detection, so that the existing sound detection equipment set inside the installation frame 410 can efficiently perform detection processing, so that the equipment can efficiently realize its due functions;

[0045] Step 2, detection adjustment: under the traction of the balloon body 304, the load pressure of the drone body 101 during hovering can be reduced, and the actual operating time of the drone body 101 can be extended. At the same time, by controlling the steering motor 406 and the drive motor 405, the steering motor 406 can adjust the use angle of the rotating frame 402 through the second rotating gear 407 and the first rotating gear, so that the rotating frame 402 can adjust the use angle of the steering wheel 404. At this time, the drive motor 405 will drive the steering wheel 404 to rotate, so that the rotating steering wheel 404 can squeeze and drive the steering ball rod 408 to change the longitudinal use angle. By controlling the start of the rotating motor 411, the rotating motor 411 drives the steering gear to rotate, and then under the position limit of the fixed gear, the installation frame 410 can be deflected at the horizontal use angle, so that the equipment can conveniently adjust the detection angle of the existing sound detection equipment inside the installation frame 410 according to the actual detection needs, so that the equipment can efficiently perform its due functions.

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An acoustic detection rotor drone, characterized in that: include: A moving mechanism (1), the moving mechanism (1) comprising an unmanned aerial vehicle body (101), a limiting frame (102) and a limiting component, wherein two limiting frames (102) are provided, the two limiting frames (102) are respectively fixedly connected to the outer surfaces of both sides of the unmanned aerial vehicle body (101), and the limiting component is provided on the two limiting frames (102); An adjustment mechanism (2), the adjustment mechanism (2) comprising two guide tubes (201), an adapter frame (202) and an adjustment component, each of the guide tubes (201) being rotatably connected between opposite inner walls on both sides of a corresponding limit frame (102), the adapter frame (202) being rotatably connected between opposite outer surfaces of the two guide tubes (201), and the adjustment component being arranged on the adapter frame (202); A traction mechanism (3), the traction mechanism (3) comprising a balloon body (304), a distance bar (301) and two traction ropes (302), a sealing block (303) being fixedly connected between one ends of the two traction ropes (302), the balloon body (304) being fixedly connected to the top of the sealing block (303), and the distance bar (301) being sleeved between the outer surfaces of the two traction ropes (302); and A detection mechanism (4), the detection mechanism (4) comprising a base frame (401), a mounting frame (410) and a positioning component, the base frame (401) being fixedly connected to the bottom ends of two traction ropes (302), a steering ball rod (408) being slidably inserted into the inner bottom surface of the base frame (401), the mounting frame (410) being rotatably connected to the bottom end of the steering ball rod (408), and the positioning component being arranged on the base frame (401) and the mounting frame (410).

2. The acoustic detection rotor drone according to claim 1, characterized in that: There are two groups of the limiting components, each group of the limiting components comprises four reset frames (103), the four reset frames (103) are respectively fixedly connected to the inner surface walls on both sides of the corresponding limiting frames (102), a support spring (104) is arranged inside each reset frame (103), and an adjustment rod (105) is slidably inserted at one end of each reset frame (103).

3. The acoustic detection rotor UAV according to claim 2, characterized in that: The adjusting component comprises a linkage shaft (203), a moving frame (205) and an adjusting motor (208); the linkage shaft (203) is rotatably connected between opposite inner walls on both sides of the adapter frame (202); both ends of the linkage shaft (203) extend to the outside of the adapter frame (202); the outer surface of the linkage shaft (203) is sleeved with moving wheels (204) near the edges of both ends; the moving frame (205) is slidably sleeved on the outer surface of the linkage shaft (203); the top of the moving frame (205) and the inner top surface of the adapter frame (202) are slidably engaged; the outer surfaces of both sides of the moving frame (205) are rotatably connected with limiting wheels (206); the adjusting motor (208) is fixedly connected to the inner bottom surface of the adapter frame (202); and the output end of the adjusting motor (208) is sleeved with a first adjusting gear (209).

4. The acoustic detection rotor UAV according to claim 3, characterized in that: The outer surface of the linkage shaft (203) is sleeved with an adjusting worm wheel, the abnormal outer surface of the adapter frame (202) is rotatably connected with an adjusting worm, the adjusting worm is meshed with the adjusting worm wheel, the bottom end of the adjusting worm is sleeved with a second adjusting gear, and the second adjusting gear is meshed with the first adjusting gear (209).

5. The acoustic detection rotor UAV according to claim 4, characterized in that: An adjusting bolt (207) is rotatably connected to the outer surface of one side of the movable frame (205), the adjusting bolt (207) is threadedly connected to the adapter frame (202), and a guide rod (210) is fixedly connected to the bottom of the adapter frame (202).

6. The acoustic detection rotor UAV according to claim 5, characterized in that: One end of each traction rope (302) slides through the inside of the corresponding guide tube (201), one end of each traction rope (302) is inserted between the corresponding moving wheel (204) and the limiting wheel (206), one end of each traction rope (302) slides through the top of the adapter frame (202), and one end of the two traction ropes (302) slides through the guide rod (210).

7. The acoustic detection rotor UAV according to claim 6, characterized in that: A plurality of weighted sliding blocks (305) are equidistantly provided in a sliding sleeve between the outer surfaces of the two traction ropes (302), and one end of each adjustment rod (105) is respectively fitted with the outer surface of the corresponding guide tube (201).

8. The acoustic detection rotor UAV according to claim 7, characterized in that: The positioning component comprises a rotating frame (402), a steering wheel (404) and a steering motor (406); the outer surface of the rotating frame (402) is sleeved with a first rotating gear; the rotating frame (402) is rotatably connected to the inner top surface of the base frame (401); a positioning bolt is threadedly connected to the outer surface of one side of the rotating frame (402); the bottom end of the positioning bolt is rotatably connected to a push piece (403); the steering wheel (404) is slidably inserted into the rotating frame (402), and one end of the steering wheel (404) slides through the push piece (403); the output end of the steering motor (406) extends to the inside of the base frame (401); the output end of the steering motor (406) is sleeved with a second rotating gear (407); the second rotating gear (407) is meshed with the first rotating gear.

9. The acoustic detection rotor UAV according to claim 8, characterized in that: A driving motor (405) is fixedly connected to the outer surface of one side of the push piece (403); the output end of the driving motor (405) is fixedly connected to one end of the steering wheel (404); a plurality of supporting beads (409) are equidistantly slidably embedded in the inner bottom surface of the base frame (401); a fixed gear is sleeved on the outer surface of the steering ball rod (408); a rotating motor (411) is fixedly connected to the top of the mounting frame (410); a steering gear is sleeved on the output end of the rotating motor (411); and the steering gear is meshed with the fixed gear.

10. A detection and control method for an acoustic detection rotor drone, characterized in that: The method is applied to an acoustic detection rotor drone as described in claim 9, comprising the following steps: S1. Operation adjustment: The existing acoustic detection device is installed inside the installation frame (410), and an appropriate amount of safe gas that can make the balloon float is injected into the balloon body (304) to achieve a degree that the balloon body (304) can be pulled by the traction rope (302) to slowly rise the detection mechanism (4), and then the adjustment motor (208) is controlled to drive the adjustment worm to rotate through the first adjustment gear (209) and the second adjustment gear, so that the rotating adjustment worm can cooperate with the adjustment worm wheel to The connecting shaft (203) can be driven to rotate, thereby enabling the connecting shaft (203) to drive the moving wheel (204) to rotate. At the same time, under the extrusion and cooperation of the limiting wheel (206), the rotating moving wheel (204) can move the traction rope (302) upward or downward. When heading to the designated detection area, the regulating motor (208) is controlled to move the traction rope (302) downward until the distance limit bar (301) fits the top of the two guide tubes (201), ensuring that the balloon body (304) can be as close to the drone body (101) as possible. ), thereby conveniently controlling the drone body (101) to move to the designated detection position, and then operating the regulating motor (208) in the reverse direction, so that the moving wheel (204) can drive the traction rope (302) to rise, and at the same time, under the traction of the balloon body (304), the balloon body (304) gradually moves away from the drone body (101), and at the same time, the traction rope (302) pulls the bottom frame (401) to move toward the guide rod (210), until the top of the uppermost counterweight slider (305) is in contact with the bottom of the guide rod (210). Under the position restriction of the traction rope (302), the chassis (401) squeezes the adjacent counterweight sliders (305) to fit closely together, thereby preventing the traction rope (302) below the guide rod (210) from bending and shaking, thereby ensuring the stability of the position of the detection mechanism (4). At this time, the installation frame (410) maintains a certain distance from the drone body (101), effectively reducing the impact of the operation of the drone body (101) on the sound detection, thereby enabling the existing sound detection equipment arranged inside the installation frame (410) to efficiently perform detection processing; S2, detection adjustment: under the traction of the balloon body (304), the load pressure of the drone body (101) during hovering can be reduced, and the actual operation time of the drone body (101) can be extended. At the same time, by controlling the steering motor (406) and the driving motor (405), the steering motor (406) can adjust the use angle of the rotating frame (402) through the second rotating gear (407) and the first rotating gear, so that the rotating frame (402) can adjust the use angle of the steering wheel (404). At this time, the driving motor (405) will drive the steering wheel (404) to rotate, so that the rotating steering wheel (404) can squeeze and drive the steering ball rod (408) to change the longitudinal use angle. By controlling the start of the rotating motor (411), the rotating motor (411) drives the steering gear to rotate, and then under the position limit of the fixed gear, the installation frame (410) can be deflected at the use angle in the horizontal direction, so that the device can conveniently adjust the detection angle of the existing sound detection equipment inside the installation frame (410) according to the actual detection needs.

Images