An acoustic detection rotor unmanned aerial vehicle and a detection control method

Abstract

The application discloses a sound detection rotor unmanned aerial vehicle and a detection control method, which comprises a moving mechanism, the moving mechanism comprises an unmanned aerial vehicle body, a limiting frame and a limiting part, two limiting frames are arranged, the two limiting frames are respectively fixedly connected to the outer surfaces of the two sides of the unmanned aerial vehicle body, and the limiting part is arranged on the two limiting frames. In the application, the existing sound detection equipment is installed in the installation frame in use, an appropriate amount of safe gas which can make the balloon float is injected into the balloon body, the balloon body can be slowly lifted by the detection mechanism through the traction rope, then the adjusting motor is controlled, the adjusting motor can drive the adjusting worm to rotate through the first adjusting gear and the second adjusting gear, the rotating adjusting worm can drive the connecting shaft to rotate through the adjusting worm wheel, then the connecting shaft can drive the moving wheel to rotate, and the rotating moving wheel can move the traction rope to rise or move downward under the extrusion cooperation of the limiting wheel.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) equipment technology, specifically an acoustic detection rotary-wing UAV and a detection and control method. Background Technology

[0002] Unmanned aerial vehicles (UAVs) are unmanned aircraft controlled by radio remote control equipment and their own program control devices, or operated autonomously by an onboard computer, either completely or intermittently.

[0003] However, in existing technologies, the actual blades of rotary-wing drones are relatively small, resulting in excessively high rotation speeds and consequently, significant noise during operation. To obtain accurate detection results, existing acoustic detection equipment needs to reduce external noise interference. The high noise level of existing rotary-wing drones means that the closer the acoustic detection equipment is to the drone, the greater the impact. Conversely, when the equipment is far away from the drone, it is more susceptible to environmental influences, making it difficult to adjust the detection angle and resulting in poor detection performance. Summary of the Invention

[0004] The purpose of this invention is to provide an acoustic detection rotary-wing UAV and its detection control method that can reduce the impact of UAV operation on acoustic detection, improve the actual detection accuracy, and facilitate acoustic detection processing.

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

[0006] An adjustment mechanism is provided, comprising two guide tubes, a transition frame, and an adjustment component. Each guide tube is rotatably connected between the inner surface walls of the corresponding limiting frame on both sides. The transition frame is rotatably connected between the outer surfaces of the two guide tubes. The adjustment component is mounted on the transition frame.

[0007] The traction mechanism includes a balloon body, a distance-limiting strip, and two traction ropes. A sealing block is fixedly connected between one end of the two traction ropes. The balloon body is fixedly connected to the top of the sealing block, and the distance-limiting strip is sleeved between the outer surfaces of the two traction ropes.

[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 two traction ropes. A steering ball 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. The positioning component is disposed on the base frame and the mounting frame.

[0009] The limiting components are provided in two sets. Each set of the limiting components includes four reset frames. The four reset frames are fixedly connected to the inner surface walls on both sides of the corresponding limiting frame. Each reset frame is provided with a support spring inside. An adjustment rod is slidably inserted into one end of each reset frame.

[0010] The adjusting component includes a connecting shaft, a moving frame, and an adjusting motor. The connecting shaft is rotatably connected between the inner walls of the two sides of the adapter frame. Both ends of the connecting shaft extend to the outside of the adapter frame. Moving wheels are fitted on the outer surface of the connecting shaft near the edges of both ends. The moving frame is slidably fitted on the outer surface of the connecting shaft, and the top of the moving frame is slidably engaged with the top surface inside the adapter frame. Limiting wheels are rotatably connected to the outer surfaces of both sides of the moving frame. The adjusting motor is fixedly connected to the bottom surface inside the adapter frame, and a first adjusting gear is fitted on the output end of the adjusting motor.

[0011] The connecting shaft has an adjusting worm gear sleeved on its outer surface, and the adapter frame has an adjusting worm rotatably connected to its outer surface. The adjusting worm and the adjusting worm gear mesh, and the bottom end of the adjusting worm is sleeved with a second adjusting gear, which meshes with the first adjusting gear.

[0012] The movable frame has an adjusting bolt rotatably connected to one side of its outer surface. 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] In this configuration, one end of each traction rope slides through the interior of 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 both traction ropes slides through the guide rod.

[0014] Among them, multiple counterweight sliders are equidistantly slidably sleeved between the outer surfaces of the two traction ropes, and one end of each adjustment rod is respectively attached to the outer surface of the corresponding guide tube.

[0015] The positioning component includes a rotating frame, a steering wheel, and a steering motor. A first rotating gear is fitted on the outer surface of the rotating frame. The rotating frame is rotatably connected to the top surface inside the base frame. A positioning bolt is threaded onto one side of the outer surface of the rotating frame. A push plate is rotatably connected to the bottom end of the positioning bolt. The steering wheel is slidably inserted into the rotating frame, and one end of the steering wheel slides through the push plate. The output end of the steering motor extends into the base frame. A second rotating gear is fitted on the output end of the steering motor. The second rotating gear meshes with the first rotating gear.

[0016] The push plate has a drive motor fixedly connected to one side of its outer surface. The output end of the drive motor is fixedly connected to one end of the steering wheel. Multiple support beads are equidistantly embedded in the bottom surface of the base frame. A fixed gear is sleeved on the outer surface of the steering ball. A rotary motor is fixedly connected to the top of the mounting frame. A steering gear is sleeved on the output end of the rotary motor. The steering gear meshes with the fixed gear.

[0017] A detection and control method for an acoustic detection rotary-wing UAV includes the following steps:

[0018] S1. Operation Adjustment: Install the existing acoustic detection equipment inside the mounting frame. Inject an appropriate amount of safe gas into the balloon body to allow it to float, ensuring the balloon body can slowly rise using the traction rope to pull the detection mechanism. Then, control the adjusting motor, which, through the first and second adjusting gears, drives the adjusting worm gear to rotate. The rotating worm gear, in conjunction with the adjusting worm wheel, drives the connecting shaft to rotate, which in turn drives the moving wheel. Simultaneously, under the pressure of the limiting wheel, the rotating moving wheel moves the traction rope up or down. When reaching the designated detection area, control the adjusting motor to lower the traction rope until the distance limit strip contacts the tops of the two guide tubes, ensuring the balloon body can reach the detection mechanism as close as possible to the target area. The system is positioned close to the drone body, facilitating its movement to the designated detection location. The motor then reverses its direction to adjust the movement, enabling the wheels to lift the traction rope. Simultaneously, the balloon body pulls the system away from the drone body, while the traction rope pulls the base frame towards the guide rod until the top of the uppermost counterweight slider aligns with the bottom of the guide rod. At this point, the traction rope's position restricts the pressure of the adjacent counterweight sliders, preventing the traction rope below the guide rod from bending or swaying, thus ensuring the stability of the detection mechanism. The mounting frame maintains a certain distance from the drone body, effectively reducing the drone's impact on acoustic detection and allowing existing acoustic detection equipment inside the mounting frame to perform efficient detection and processing.

[0019] S2. Detection and Adjustment: Under the traction of the balloon body, the load pressure on the drone body when hovering can be reduced, and the actual running 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 operating angle of the rotating frame through the second rotating gear and the first rotating gear, so that the rotating frame can adjust the operating 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 to change the longitudinal operating angle. By controlling the start of the rotating motor, the rotating motor drives the steering gear to rotate, and then under the position restriction of the fixed gear, the mounting frame can deflect in the horizontal operating angle, so that the equipment can conveniently adjust the detection angle of the existing acoustic detection equipment inside the mounting frame according to the 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 this invention, during use, the existing acoustic detection equipment is installed inside the mounting frame. By injecting an appropriate amount of safe gas that allows the balloon to float, the balloon body can be pulled up slowly by the traction rope to the detection mechanism. Then, by controlling the adjusting motor, the adjusting motor can drive the adjusting worm to rotate through the first adjusting gear and the second adjusting gear. The rotating adjusting worm, in conjunction with the adjusting worm wheel, can drive the connecting shaft to rotate, which in turn can drive the moving wheel to rotate. At the same time, under the squeezing action of the limiting wheel, the rotating moving wheel can move the traction rope up or down. When moving to the designated detection area, the adjusting motor is controlled to move the traction rope down until the distance limit strip is attached to the top of the two guide tubes, ensuring that the balloon body can get as close as possible to the UAV body. This allows for convenient control of the drone's movement to the designated detection position. The motor then reverses direction to adjust the movement, enabling the wheels to lift the traction rope. Simultaneously, the balloon, pulled by the balloon itself, gradually moves away from the drone. The traction rope pulls the base frame towards the guide rod until the top of the uppermost counterweight slider aligns with the bottom of the guide rod. At this point, the traction rope's position restricts the pressure of the adjacent counterweight sliders, preventing bending and swaying of the traction rope below the guide rod and ensuring the stability of the detection mechanism. The mounting frame maintains a certain distance from the drone, effectively reducing the drone's impact on acoustic detection. This allows the existing acoustic detection equipment inside the mounting frame to perform efficient detection and processing, enabling the equipment to efficiently fulfill its intended functions.

[0022] (2) In this invention, when in use, the load pressure of the UAV body when hovering can be reduced under the traction of the balloon body, and the actual running time of the UAV 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 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 drive motor will drive the steering wheel to rotate, so that the rotating steering wheel can squeeze and drive the steering ball 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 restriction of the fixed gear, the mounting frame can deflect the horizontal use angle, so that the equipment can conveniently adjust the detection angle of the existing acoustic detection equipment inside the mounting frame according to the actual detection needs, so that the equipment can efficiently realize the intended function. Attached Figure Description

[0023] Figure 1 This is a first-view perspective perspective view of the present invention;

[0024] Figure 2 This is a second-view perspective perspective view of the present invention;

[0025] Figure 3 This is a third-view perspective view of the present invention;

[0026] Figure 4 This is a sectional perspective view of the moving mechanism of the present invention;

[0027] Figure 5 For the present invention Figure 4 Enlarged view of section A in the middle;

[0028] Figure 6 This is a perspective view of the adjustment mechanism of the present invention;

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

[0030] Figure 8 This is a perspective view of the traction mechanism of the present invention;

[0031] Figure 9 For the present invention Figure 8 Enlarged view of section C;

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

[0033] Figure 11 This is a cross-sectional perspective view of the detection mechanism of the present invention;

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

[0035] Markings in the diagram: 1. Moving mechanism; 101. UAV body; 102. Limiting frame; 103. Reset frame; 104. Support spring; 105. Adjusting rod; 2. Adjusting mechanism; 201. Guide tube; 202. Adapter frame; 203. Connecting shaft; 204. Moving wheel; 205. Moving frame; 206. Limiting wheel; 207. Adjusting bolt; 208. Adjusting motor; 209. First adjusting gear; 210. Guide rod; 3. 301. Traction mechanism; 302. Distance bar; 303. Traction rope; 304. Sealing block; 305. Balloon body; 306. Counterweight slider; 4. Detection mechanism; 401. Base frame; 402. Rotating frame; 403. Push plate; 404. Steering wheel; 405. Drive motor; 406. Steering motor; 407. Second rotating gear; 408. Steering ball; 409. Support ball; 410. Mounting frame; 411. Rotary motor. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0037] Example 1, please refer to Figure 1-3 A rotary-wing acoustic detection drone 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] Please see Figure 4 and Figure 5 The mobile mechanism 1 includes a drone body 101, a limiting frame 102, and limiting components. There are two limiting frames 102, which are fixedly connected to the outer surfaces of both sides of the drone body 101. The limiting components are set on the two limiting frames 102. There are two sets of limiting components. Each set of limiting components includes four reset frames 103. The four reset frames 103 are fixedly connected to the inner surface walls of both sides of the corresponding limiting frame 102. Each reset frame 103 has a support spring 104 inside. Each reset frame 103 has an adjusting rod 105 slidably inserted at one end. The support spring 104 presses the adjusting rod 105 to provide a supporting limiting effect.

[0040] Please see Figure 6 and Figure 7The adjusting mechanism 2 includes two guide tubes 201, a transition frame 202, and an adjusting component. Each guide tube 201 is rotatably connected between the corresponding inner walls of the limiting frame 102 on both sides. The transition frame 202 is rotatably connected between the opposite outer surfaces of the two guide tubes 201. The adjusting component is mounted on the transition frame 202 and includes a connecting shaft 203, a moving frame 205, and an adjusting motor 208. The connecting shaft 203 is rotatably connected between the corresponding inner walls of the transition frame 202 on both sides. Both ends extend to the outside of the adapter frame 202. Moving wheels 204 are fitted onto the outer surface of the connecting shaft 203 near both ends. A moving frame 205 is slidably fitted onto the outer surface of the connecting shaft 203, with the top of the moving frame 205 slidably engaged with the inner top surface of the adapter frame 202. Limiting wheels 206 are rotatably connected to the outer surfaces of both sides of the moving frame 205. An adjusting motor 208 is fixedly connected to the inner bottom surface of the adapter frame 202. A first adjusting gear 209 is fitted onto the output end of the adjusting motor 208. The outer surface of the connecting shaft 203 is fitted with… An adjusting worm gear is provided. An adjusting worm is rotatably connected to the outer surface of the adapter frame 202. The adjusting worm meshes with the adjusting worm gear. A second adjusting gear is sleeved at the bottom end of the adjusting worm. The second adjusting gear meshes with the first adjusting gear 209. An adjusting bolt 207 is rotatably connected to the outer surface of one side of the moving frame 205. 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. With the support of the adjusting rod 105, the guide tube 201 can limit the extension of the traction rope 302. To prevent the traction rope 302 from colliding with the propeller of the UAV body 101, the regulating motor 208 is controlled so that the regulating motor 208 can drive the regulating worm to rotate through the first regulating gear 209 and the second regulating gear. Then, the rotating regulating worm, in conjunction with the regulating worm wheel, can drive the connecting shaft 203 to rotate, which in turn can drive the moving wheel 204 to rotate. At the same time, under the squeezing action of the limiting wheel 206, the rotating moving wheel 204 can move the traction rope 302 to rise or fall.

[0041] Please see Figures 8-10The traction mechanism 3 includes a balloon body 304, a distance limiting strip 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 limiting strip 301 is sleeved between the outer surfaces of the two traction ropes 302. One end of each traction rope 302 slides through the interior 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. One end of each of the two traction ropes 302 slides through the guide rod 210. Multiple counterweight sliders 305 are equidistantly slidably sleeved between the outer surfaces of the two traction ropes 302. One end of each adjusting rod 105 is respectively attached to the outer surface of the corresponding guide tube 201. By injecting an appropriate amount of safe gas into the balloon body 304 that can make the balloon float, the balloon body 304 can be pulled by the traction ropes 302 to slowly rise to the level of the detection mechanism 4. Thus, under the traction of the balloon body 304, the load pressure of the UAV body 101 when hovering can be reduced.

[0042] Please see Figure 11 and Figure 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 two traction ropes 302. A steering ball joint 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 joint 408. The positioning component is disposed 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. A first rotating gear is sleeved on the outer surface of the rotating frame 402. The rotating frame 402 is rotatably connected to the top of the inside of the base frame 401. On one side of the rotating frame 402, a positioning bolt is threadedly connected to the outer surface. A push plate 403 is rotatably connected to the bottom end of the positioning bolt. A steering wheel 404 is slidably inserted into the rotating frame 402, with one end of the steering wheel 404 sliding through the push plate 403. The output end of the steering motor 406 extends into the base frame 401. A second rotating gear 407 is sleeved on the output end of the steering motor 406, and the second rotating gear 407 meshes with the first rotating gear. A drive motor 405 is fixedly connected to one side of the outer surface of the push plate 403. The output end of the drive motor 405 and the push plate 403 are connected to the first rotating gear. One end of the wheel 404 is fixedly connected. Multiple support beads 409 are equidistantly slidably embedded in the bottom surface of the base frame 401. A fixed gear is sleeved on the outer surface of the steering rod 408. A rotary motor 411 is fixedly connected to the top of the mounting frame 410. A steering gear is sleeved on the output end of the rotary motor 411. The steering gear meshes with the fixed gear. By controlling the steering motor 406 and the drive motor 405, the steering motor 406 can adjust the operating 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 operating 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 rod 408 to change the longitudinal operating angle. By controlling the start of the rotary motor 411, the rotary motor 411 drives the steering gear to rotate. Then, under the position restriction of the fixed gear, the mounting frame 410 can deflect in the horizontal operating angle, so that the equipment can conveniently adjust the detection angle of the existing acoustic detection equipment inside the mounting frame 410 according to the actual detection requirements.

[0043] The following provides a detailed description of a sound-detecting rotary-wing UAV detection and control method according to an embodiment of the present invention. The method of use includes the following steps:

[0044] Step 1, Operation and Adjustment: Install the existing acoustic detection equipment inside the mounting frame 410. Inject an appropriate amount of safe gas into the balloon body 304 to allow it to float, so that the balloon body 304 can slowly rise by pulling the detection mechanism 4 via the traction rope 302. Then, control the adjustment motor 208, which drives the adjustment worm to rotate via the first adjustment gear 209 and the second adjustment gear. The rotating adjustment worm, in conjunction with the adjustment worm wheel, drives the connecting shaft 203 to rotate, which in turn drives the moving wheel 204 to rotate. Simultaneously, under the squeezing action of the limit wheel 206, the rotating moving wheel 204 moves the traction rope 302 to rise or fall. When moving to the designated detection area, control the adjustment motor 208 to lower the traction rope 302 until the distance bar 301 is in contact with the top of the two guide tubes 201, ensuring that the balloon body 304 can get as close as possible to the drone body 101, thus facilitating... The drone body 101 is moved to the designated detection position, and then the motor 208 is reversed to adjust the movement, 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 moved away from the drone body 101. Meanwhile, the traction rope 302 pulls the base frame 401 to move towards the guide rod 210 until the top of the uppermost counterweight slider 305 is in contact 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 tightly together, so that the traction rope 302 below the guide rod 210 is not easy to bend or sway, ensuring the stability of the detection mechanism 4. At this time, the mounting frame 410 maintains a certain distance from the drone body 101, effectively reducing the impact of the drone body 101's operation on the acoustic detection, thereby enabling the existing acoustic detection equipment set inside the mounting frame 410 to perform detection and processing efficiently, and enabling the equipment to perform its intended functions efficiently.

[0045] Step 2, Detection and Adjustment: Under the traction of the balloon body 304, the load pressure on the drone body 101 when hovering can be reduced, extending the actual operating time of the drone body 101. At the same time, by controlling the steering motor 406 and the drive motor 405, the steering motor 406 can adjust the operating 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 operating 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 408 to change the longitudinal operating 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 restriction of the fixed gear, the mounting frame 410 can deflect in the horizontal operating angle. Thus, the equipment can conveniently adjust the detection angle of the existing acoustic detection equipment inside the mounting frame 410 according to the actual detection needs, so that the equipment can perform its intended functions efficiently.

[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 within the protection scope of the present invention.

Claims

1. An acoustic detection rotary-wing unmanned aerial vehicle, characterized in that, include: The mobile mechanism (1) includes a drone body (101), a limiting frame (102) and a limiting component. There are two limiting frames (102), which are fixedly connected to the outer surfaces of both sides of the drone body (101). The limiting component is disposed on the two limiting frames (102). Adjustment mechanism (2), the adjustment mechanism (2) includes two guide tubes (201), a transition frame (202) and an adjustment component. Each guide tube (201) is rotatably connected between the two opposite inner surface walls of the corresponding limiting frame (102). The transition frame (202) is rotatably connected between the opposite outer surfaces of the two guide tubes (201). The adjustment component is disposed on the transition frame (202). A traction mechanism (3) comprising a balloon body (304), a distance-limiting strip (301), and two traction ropes (302). A sealing block (303) is fixedly connected between one end of each of the two traction ropes (302). The balloon body (304) is fixedly connected to the top of the sealing block (303). The distance-limiting strip (301) is fitted between the outer surfaces of the two traction ropes (302). The 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 two traction ropes (302). A steering ball rod (408) is slidably inserted into the bottom surface inside 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 disposed on the base frame (401) and the mounting frame (410).

2. The acoustic detection rotary-wing UAV as described in claim 1, characterized in that: The limiting components are provided in two sets. Each set of the limiting components includes four reset frames (103). The four reset frames (103) are fixedly connected to the inner surface walls on both sides of the corresponding limiting frame (102). Each reset frame (103) is provided with a support spring (104). Each reset frame (103) is slidably inserted with an adjusting rod (105) at one end.

3. The acoustic detection rotary-wing UAV as described in claim 2, characterized in that: The adjustment component includes a connecting shaft (203), a movable frame (205), and an adjustment motor (208). The connecting shaft (203) is rotatably connected between the inner walls of the two sides of the adapter frame (202). Both ends of the connecting shaft (203) extend to the outside of the adapter frame (202). Movable wheels (204) are fitted on the outer surface of the connecting shaft (203) near the edges of both ends. The movable frame (205) is slidably fitted on the outer surface of the connecting shaft (203), and the top of the movable frame (205) is slidably engaged with the top surface inside the adapter frame (202). Limiting wheels (206) are rotatably connected to the outer surfaces of both sides of the movable frame (205). The adjustment motor (208) is fixedly connected to the bottom surface inside the adapter frame (202). A first adjustment gear (209) is fitted on the output end of the adjustment motor (208).

4. The acoustic detection rotary-wing UAV as described in claim 3, characterized in that: The outer surface of the connecting shaft (203) is fitted with an adjusting worm gear, and the outer surface of the adapter (202) is rotatably connected to an adjusting worm. The adjusting worm and the adjusting worm gear mesh, and the bottom end of the adjusting worm is fitted with a second adjusting gear. The second adjusting gear and the first adjusting gear (209) mesh.

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

6. The acoustic detection rotary-wing UAV as described in claim 5, characterized in that: One end of each traction rope (302) slides through the interior 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 both traction ropes (302) slides through the guide rod (210).

7. The acoustic detection rotary-wing UAV as described in claim 6, characterized in that: Multiple counterweight sliders (305) are equidistantly slidably sleeved between the outer surfaces of the two traction ropes (302), and one end of each adjusting rod (105) is respectively attached to the outer surface of the corresponding guide tube (201).

8. The acoustic detection rotary-wing UAV as described in claim 7, characterized in that: The positioning component includes a rotating frame (402), a steering wheel (404), and a steering motor (406). A first rotating gear is fitted on the outer surface of the rotating frame (402). The rotating frame (402) is rotatably connected to the top surface inside the base frame (401). A positioning bolt is threaded onto one side of the outer surface of the rotating frame (402). A push plate (403) is rotatably connected to the bottom end of the positioning bolt. The steering wheel (404) is slidably inserted into the rotating frame (402), and one end of the steering wheel (404) slides through the push plate (403). The output end of the steering motor (406) extends into the base frame (401). A second rotating gear (407) is fitted on the output end of the steering motor (406). The second rotating gear (407) meshes with the first rotating gear.

9. The acoustic detection rotary-wing UAV as described in claim 8, characterized in that: A drive motor (405) is fixedly connected to one side of the outer surface of the push plate (403). The output end of the drive motor (405) is fixedly connected to one end of the steering wheel (404). Multiple support beads (409) are equidistantly slidably embedded in the bottom surface of the base frame (401). A fixed gear is sleeved on the outer surface of the steering ball (408). A rotary motor (411) is fixedly connected to the top of the mounting frame (410). A steering gear is sleeved on the output end of the rotary motor (411). The steering gear meshes with the fixed gear.

10. A detection and control method for an acoustic detection rotary-wing unmanned aerial vehicle, characterized in that, The method of application in the acoustic detection rotary-wing UAV as described in claim 9 includes the following steps: S1. Operation Adjustment: Install the existing acoustic detection equipment inside the mounting frame (410). Inject an appropriate amount of safe gas into the balloon body (304) to make the balloon body (304) able to slowly rise by pulling the detection mechanism (4) through the traction rope (302). Then, control 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. Then, the rotating adjustment worm can cooperate with the adjustment worm wheel to... This drives the linkage shaft (203) to rotate, which in turn drives the moving wheel (204) to rotate. Simultaneously, under the pressure of the limiting wheel (206), the rotating moving wheel (204) moves the traction rope (302) up or down. When it reaches the designated detection area, the control motor (208) lowers the traction rope (302) until the distance bar (301) is aligned with the top of the two guide tubes (201), ensuring that the balloon body (304) can get as close as possible to the drone body (101). This facilitates the control of the UAV body (101) to move to the designated detection position, and then reverses the operation of 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) gradually moves away from the UAV body (101), and the traction rope (302) pulls the base frame (401) to move towards the guide rod (210) until the top of the uppermost counterweight slider (305) is in contact with the bottom of the guide rod (210). At this time, Under the positional constraint of the traction rope (302), the base frame (401) will squeeze the adjacent counterweight sliders (305) to fit tightly together, thereby making the traction rope (302) below the guide rod (210) less prone to bending and swaying, ensuring the stability of the position of the detection mechanism (4). At this time, the mounting frame (410) maintains a certain distance from the UAV body (101), effectively reducing the impact of the UAV body (101) operation on acoustic detection, thereby enabling the existing acoustic detection equipment set inside the mounting frame (410) to perform detection processing efficiently. S2, Detection Adjustment: Under the traction of the balloon body (304), the load pressure of the UAV body (101) when hovering can be reduced, and the actual running time of the UAV 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 operating 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 operating 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 (408) to change the longitudinal operating angle. By controlling the start of the rotating motor (411), the rotating motor (411) drives the steering gear to rotate, and under the position restriction of the fixed gear, the mounting frame (410) can deflect in the horizontal operating angle, so that the equipment can conveniently adjust the detection angle of the existing acoustic detection equipment inside the mounting frame (410) according to the actual detection requirements.

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