Intelligent mountaintop image control arrangement system based on unmanned aerial vehicle

Abstract

The invention relates to an unmanned aerial vehicle-based mountaintop image control intelligent arrangement system applied to the technical field of unmanned aerial vehicle aerial survey. The system comprises an RTK platform, a supporting device mounted at the bottom of the RTK platform, an image control cloth fixing device arranged in the supporting device, an intelligent signal processor and a controller; the supporting device comprises an image control cloth bottom frame, a plurality of image control cloth side frames arranged on the periphery of the image control cloth bottom frame, image control cloth fixed to the image control cloth bottom frame and the image control cloth side frames and a plurality of supporting columns arranged at the four corners of the image control cloth bottom frame, and the image control cloth fixing device comprises a gradienter and a limiting pipe fixed to the bottom end of the gradienter. By means of the structure, layout and measurement of the image control points can be achieved, the image control points are stably arranged and not prone to falling off due to natural reasons, the image control points can be stably fixed on a slope with a low inclination angle, and when the image control points are installed on the slope, the included angle between the RTK assembly and the horizontal plane can be adjusted, so that the RTK can measure more accurate coordinates.

Description

Technical Field

[0001] The present invention relates to an image control intelligent arrangement system, and in particular to a mountain top image control intelligent arrangement system based on an unmanned aerial vehicle (UAV) and applied in the field of UAV aerial survey technology. Background Art

[0002] UAV aerial survey is a powerful supplement to traditional aerial photogrammetry. It is flexible, efficient, precise, low-cost, widely applicable, and has a short production cycle. It has obvious advantages in quickly acquiring high-resolution images in small areas and areas where flying is difficult. When operating UAV aerial photography, it is necessary to shoot targets evenly laid out in the flight area to extract the image control points in the center, and use RTK components to measure the coordinates of the image control points to improve the accuracy of the puzzle and the accuracy of the point cloud data. However, due to the rugged terrain of mountainous areas, it is difficult to arrange and measure image control points in mountainous areas by manpower. Therefore, in recent years, drones have been used to deploy image control points in mountainous areas.

[0003] The patent with publication number CN211651603U discloses a device suitable for measuring image control points in mountainous areas, including a tube body, a sand injection hole, a sealing plug, a funnel bracket, a first aluminum alloy plate, a second aluminum alloy plate, a third aluminum alloy plate, a soft lifting rope, a fastening screw, a GPS receiver base, a GPS receiver body and a hard lifting rope. Although the device has a simple structure and can be transported by a drone, the placement of the device cannot be completed in one go, and the device uses a weight-added method to fix the image control points, which will increase the workload of the drone and test the performance of the drone. In addition, when measuring, it is necessary to control the drone to roughly align the third aluminum alloy plate connected to the GPS measuring instrument receiver body with the second aluminum alloy plate on the top side of the funnel bracket, and to engage and place them. The operation process is relatively cumbersome and difficult to implement.

[0004] In response to the problems in the above-mentioned patents that the image control points dropped by drones are not firmly fixed, or the method for fixing the image control points requires a higher-performance drone, and the coordinate measurement operation process is too cumbersome, the present invention proposes a mountaintop image control intelligent layout system based on drones. Summary of the invention

[0005] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is to arrange image control points in mountainous areas more intelligently based on drone technology, and to solve the problems of loose fixation of image control points, high performance of required drones and overly complicated operation process.

[0006] In order to solve the above problems, the present invention provides a mountaintop image control intelligent layout system based on a drone, comprising an RTK platform, a support device installed at the bottom of the RTK platform, an image control cloth fixing device arranged inside the support device, an intelligent signal processor and a controller; The supporting device includes an image control cloth bottom frame, a plurality of image control cloth side frames hinged on the periphery of the image control cloth bottom frame, an image control cloth respectively fixed on the image control cloth bottom frame and the plurality of image control cloth side frames, and a plurality of supporting columns arranged at the four corners of the image control cloth bottom frame, the top of the supporting column is connected to the bottom of the RTK platform, each supporting column includes a supporting column body, a vertical adjustment motor B, a pressure sensor mounting column and a pressure sensor are respectively arranged in the lower end hole of the supporting column body, the vertical adjustment motor B is fixed to the lower end of the supporting column body, the pressure sensor mounting column is threadedly connected to the rotating shaft of the vertical adjustment motor B, and the pressure sensor is fixed to the lower end of the pressure sensor mounting column; The image control cloth fixing device includes a level, a limiting tube fixed at the bottom end of the level, a level mounting column and a double-axis fixing motor both installed in the limiting tube, one output shaft of the double-axis fixing motor is threadedly connected with the level mounting column through a thread, an upper rotating shaft is fixed on the other output shaft of the double-axis fixing motor, an electromagnet A is fixed in the middle of the upper rotating shaft, a lower rotating shaft is arranged at the lower end of the upper rotating shaft, the lower end of the upper rotating shaft and the upper end of the lower rotating shaft are both provided with corresponding one-way teeth, and a fixing screw is fixed at the lower end of the lower rotating shaft; The intelligent signal processor includes a remote signal processing module, a docking processing module and a fixed processing module. The docking processing module is electrically connected to the vertical adjustment motor B and the pressure sensor respectively, and the fixed processing module is electrically connected to the dual-axis fixed motor and the electromagnet A respectively. The controller, the docking processing module and the fixed processing module are all connected to the remote signal processing module signal.

[0007] In the above-mentioned drone-based mountaintop image control intelligent layout system, the problems of image control points being firmly fixed, the required drone having low performance and the relatively simple operation process are solved.

[0008] As a further improvement of the present application, the RTK platform includes an RTK component, a fixing clamp fixed on the top of the RTK component, and a camera device rotating motor arranged at the lower corner of the RTK component housing. The camera device is fixed on the output shaft of the camera device rotating motor. A plurality of connecting columns and a plurality of electromagnet fixing columns are fixed on the bottom side of the RTK component, and an electromagnet B is arranged at the lower end of each electromagnet fixing column.

[0009] As a further improvement of the present application, the intelligent signal processor also includes a coordinate detection module, which is electrically connected to the camera device rotation motor and the RTK component respectively, the fixed processing module is electrically connected to the electromagnet B, and the remote signal processing module is signal-connected to the coordinate detection module.

[0010] As a further improvement of the present application, the support column also includes a vertical adjustment motor A, the rotating shaft of the vertical adjustment motor A is threadedly connected to the upper end of the support column body, and the upper end of the vertical adjustment motor A is fixed to the lower end of the RTK component housing.

[0011] As a further improvement of the present application, the intelligent signal processor also includes a horizontal adjustment processing module, which is electrically connected to the vertical adjustment motor A and the level meter respectively, and the remote signal processing module is signal-connected to the horizontal adjustment processing module.

[0012] As another improvement of the present application, the support column also includes a connecting ball and a vertical adjustment motor A fixed at the lower end of the connecting ball. The rotating shaft of the vertical adjustment motor A is threadedly connected to the column body of the support column. The upper half of the connecting ball is arranged in the connecting column, and the contact surface between the connecting ball and the connecting column is smooth.

[0013] As another improved supplement of the present application, spikes are arranged on the outer side of each image control cloth side frame, and permanent magnets are installed at the upper ends of the multiple image control cloth side frames corresponding to the electromagnet B.

[0014] As another improvement of the present application, a hole corresponding to the electromagnet A is opened at the upper end of the lower rotating shaft, and the outer periphery of the hole of the lower rotating shaft is made of magnetic material.

[0015] As another improvement of the present application, the housing of the dual-axis fixed motor is a square structure, and the size of the dual-axis fixed motor corresponds to the size of the opening below the limiting tube.

[0016] To sum up, when the drone is performing image control point delivery, multiple pressure sensors will detect whether the docking place is stable. If it is stable, it will continue to deliver. Otherwise, the operator needs to find a suitable position again. When the controller uses the controller to send a start delivery signal to the fixed processing module through the remote control module, the fixed processing module will control the dual-axis fixed motor to rotate. At this time, the fixing screws will be screwed into the ground to fix the image control cloth. Then the fixed processing module will control the electromagnet B to produce opposite magnetism, thereby unfolding the side frame of the image control cloth. After that, the horizontal adjustment module will automatically start and use the level to determine whether the RTK component is in a horizontal state. If it is If the camera is level, the remote control module will send a signal to the controller that the device is level. When the controller uses the controller to send a start detection signal to the coordinate detection module through the remote control module, the coordinate detection module will control the RTK component to start measuring the coordinates, and send the coordinates to the controller through the remote signal processing module, and display and record them on the controller. At this time, the controller can control the camera to rotate the motor to adjust the camera to a suitable angle for shooting. The above process enables the intelligent arrangement of image control points in mountainous areas using drone technology, and solves the problems of loose fixation of image control points, high performance of the required drone and overly complicated operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a three-dimensional structural diagram of the image control intelligent arrangement device according to the first embodiment of the present application; Figure 2This is an internal architecture diagram of the image control intelligent arrangement device according to the first embodiment of the present application; Figure 3 This is a three-dimensional structural diagram of a support device according to a first embodiment of the present application; Figure 4 This is an exploded view of the support column structure of the first embodiment of the present application; Figure 5 This is a three-dimensional top view of the image control cloth fixing device of the first embodiment of the present application; Figure 6 This is a three-dimensional bottom view of the image control cloth fixing device of the first embodiment of the present application; Figure 7 This is a three-dimensional top view of the RTK platform of the first embodiment of the present application; Figure 8 This is a control principle block diagram of an intelligent signal processor according to the first embodiment of the present application; Fig. 9 This is a stereo bottom view of the RTK platform of the second embodiment of the present application; Fig.10 This is a block diagram of the control principle of the intelligent signal processor of the second embodiment of the present application.

[0018] Description of the numbers in the figure: 1. UAV landing gear; 2. Image control cloth; 3. RTK platform; 4. Image control cloth fixing device; 5. Support device; 30. Fixing clamp; 31. Camera device; 32. RTK component; 33. Camera device rotating motor; 35. Electromagnet fixing column; 36. Electromagnet B; 40. Level; 41. Level mounting column; 42. Limiting tube; 43. Dual-axis fixed motor; 44. Upper rotating shaft; 45. Lower rotating shaft; 46. Fixing screw; 47. Electromagnet A; 50. Image control cloth bottom frame; 51. Permanent magnet; 52. Support column; 53. Image control cloth side frame; 521. Vertical adjustment motor A; 522. Support column body; 523. Vertical adjustment motor B; 524. Pressure sensor mounting column; 525. Pressure sensor. DETAILED DESCRIPTION

[0019] Two implementation modes of the present application are described in detail below with reference to the accompanying drawings.

[0020] The first implementation method: See also Figure 1-Figure 5 and Figure 8A mountaintop image control intelligent arrangement system based on a drone comprises an RTK platform 3, a support device 5 installed at the bottom of the RTK platform 3, an image control cloth fixing device 4 arranged inside the support device 5, an intelligent signal processor and a controller, the controller is a control device used to display shooting pictures, task processing status, position coordinates and control task execution; the support device 5 comprises an image control cloth bottom frame 50, a plurality of image control cloth side frames 53 hinged on the periphery of the image control cloth bottom frame 50, an image control cloth 2 respectively fixed on the image control cloth bottom frame 50 and the plurality of image control cloth side frames 53, and A plurality of support columns 52 are arranged at the four corners of the image control cloth bottom frame 50. The image control cloth 2 is a cross-shaped cloth with an image control point identification pattern sprayed on it. The image control cloth 2 is strong and not easy to damage, and the pattern is conspicuous and not easy to fade. The image control cloth 2 is unfolded by the image control cloth bottom frame 50 and the image control cloth side frame 53, and is fixed to the ground together with the image control cloth 2. The plurality of image control cloth side frames 53 are arranged to prevent the image control cloth 2 from being folded by natural factors, thereby hindering subsequent operations. The top of the support column 52 is connected to the bottom of the RTK platform 3. Each support column 52 includes a support column body 522, which supports A vertical adjustment motor B523, a pressure sensor mounting column 524 and a pressure sensor 525 are respectively arranged in the lower end hole of the column body 522. The vertical adjustment motor B523 is fixed to the lower end of the support column body 522. The pressure sensor mounting column 524 is threadedly connected to the rotating shaft of the vertical adjustment motor B523. The pressure sensor mounting column 524 is fixed to the lower end of the pressure sensor mounting column 524. The pressure sensor 525 is fixed to the lower end of the pressure sensor mounting column 524. The image control cloth fixing device 4 includes a level 40, a limiting tube 42 fixed to the bottom end of the level 40, and a level mounting column 41 and a dual-axis fixed Fixed motor 43, one output shaft of the double-axis fixed motor 43 is threadedly connected with the level installation column 41 through a thread, and the other output shaft of the double-axis fixed motor 43 is fixed with an upper rotating shaft 44. Through the above structure, the double-axis fixed motor 43 can be used to insert a fixing screw 46 into the ground, so as to fix the image control cloth 2. An electromagnet A47 is fixed in the middle of the upper rotating shaft 44, and a lower rotating shaft 45 is arranged at the lower end of the upper rotating shaft 44. The lower end of the upper rotating shaft 44 and the upper end of the lower rotating shaft 45 are both provided with corresponding one-way teeth, and a fixing screw 46 is fixed at the lower end of the lower rotating shaft 45;The intelligent signal processor includes a remote signal processing module, a docking processing module and a fixed processing module. The docking processing module is electrically connected to the vertical adjustment motor B523 and the pressure sensor 525 respectively, and the fixed processing module is electrically connected to the dual-axis fixed motor 43 and the electromagnet A47 respectively. The controller, the docking processing module and the fixed processing module are all connected to the remote signal processing module signal. Before the image control cloth 2 starts to be released, the docking processing module has controlled the vertical adjustment motor B523 to rotate, and the pressure sensor 525 is set outside the support column body 522. When the drone reaches the designated position, multiple pressure sensors 525 perform pressure detection at the same time. When multiple pressure sensors 525 have values, the docking processing module believes that it has stopped steadily, and then controls the vertical adjustment motor B523 to put the pressure sensor 525 into the support column body 522. The purpose is to make the image control cloth bottom frame 50 fully contact with the ground. After that, the docking processing module will stably dock. The signal is sent to the controller through the remote signal processing module, thereby informing the controller that the equipment has been stably docked. If there are low values ​​in the multiple pressure sensors 525, the controller will be notified that the equipment is not stably docked, so that the controller can find a suitable position again; each image control cloth side frame 53 is provided with spikes on the outside, so that when the image control cloth 2 is unfolded, the spikes on the image control cloth bottom frame 50 are smashed into the ground due to gravity to fix the image control cloth 2. Permanent magnets 51 are installed at the upper ends of the multiple image control cloth side frames 53 corresponding to the electromagnet B36; a hole corresponding to the electromagnet A47 is opened at the upper end of the lower rotating shaft 45, and the outer periphery of the hole of the lower rotating shaft 45 is made of magnetic material; the housing of the double-axis fixed motor 43 is a square structure, and the size of the double-axis fixed motor 43 corresponds to the size of the opening below the limiting tube 42. The above setting is used to limit the rotation of the double-axis fixed motor 43, thereby realizing the vertical movement of the double-axis fixed motor 43 and the fixing screw 46. ;

[0021] See also Figure 6-Figure 8The RTK platform 3 includes an RTK component 32, a fixing clamp 30 fixed on the top of the RTK component 32, and a camera rotating motor 33 arranged at the lower corner of the shell of the RTK component 32. The function of the fixing clamp 30 is to fix the present invention to the landing gear 1 of the UAV. A camera 31 is fixed on the output shaft of the camera rotating motor 33. The camera 31 is a camera with adjustable shooting angle. Its purpose is to shoot image control points from a better angle to facilitate subsequent operations. A plurality of connecting columns 34 and a plurality of electromagnet fixing columns 35 are fixed on the bottom side of the RTK component 32. The lower end of each electromagnet fixing column 35 is provided with an electromagnet B36. The electromagnet B36 can change the direction of the magnetic pole by changing the current; the intelligent signal processor also includes a coordinate detection module, which is respectively connected to the camera rotating motor 33. The motor 33 is electrically connected to the RTK component 32, the fixed processing module is electrically connected to the electromagnet B36, and the remote signal processing module is signal-connected to the coordinate detection module. When the controller uses the controller to send a start-release signal to the fixed processing module through the remote control module, the fixed processing module will control the dual-axis fixed motor 43 to rotate. At this time, the fixing screw 46 will be screwed into the ground, thereby fixing the image control cloth 2. After the fixation is completed, the fixed processing module controls the electromagnet A47 that has been powered on to turn off the power. At the same time, the dual-axis fixed motor 43 rotates in the opposite direction, and the dual-axis fixed motor 43 stops rotating after being moved to the initial position, thereby leaving the lower shaft 45 and the fixing screw 46 to fix the image control cloth 2. At this time, the fixed processing module will pass reverse electricity to the electromagnet B36, thereby unfolding the image control cloth side frame 53.

[0022] To sum up, the first implementation scheme is suitable for a relatively flat plane. After the UAV places the invention at the delivery point, multiple pressure sensors 525 perform pressure detection at the same time. When multiple pressure sensors 525 all have values, the docking processing module believes that it has stopped stably, and then controls the vertical adjustment motor B523 to retract the pressure sensor 525 into the support column column 522, so that the image control cloth bottom frame 50 is fully in contact with the ground. Then the docking processing module sends a stable docking signal to the controller through the remote signal processing module to inform the controller that the equipment has been stably docked. If there are lower values ​​in the multiple pressure sensors 525, the controller will be notified that the equipment is not stably docked, allowing the controller to find a suitable position again; when the controller uses the controller to send a delivery signal to the fixed processing module through the remote control module, the fixed processing module will control the dual-axis fixed motor 43 to rotate, and at this time the fixing screw 46 will be screwed into the ground, The image control cloth 2 is fixed. After the fixation is completed, the fixed processing module controls the electromagnet A47 that has been powered on to be powered off, and at the same time, the dual-axis fixed motor 43 rotates in the opposite direction, so that the lower shaft 45 and the fixing screw 46 are left to fix the image control cloth 2. At this time, the fixed processing module generates opposite magnetic poles for the electromagnet B36, so that the electromagnet B36 and the permanent magnet 51 on the image control cloth side frame 53 repel each other, thereby unfolding the image control cloth side frame 53. When the controller uses the controller to send a start detection signal to the coordinate detection module through the remote control module, the coordinate detection module will control the RTK component 32 to start measuring the coordinates, and send the coordinates to the controller through the remote signal processing module, and display and record them on the controller. At this time, the controller can control the camera device to rotate the motor 33 to adjust the camera device 31 to a suitable angle for shooting. After the above tasks are completed, the drone can use the remaining part of the device in subsequent tasks.

[0023] The second implementation method: See also Figure 4 , Fig. 9 and Fig.10 Different from the first embodiment, the support column 52 also includes a vertical adjustment motor A521, the rotating shaft of the vertical adjustment motor A521 is threadedly connected to the upper end of the support column body 522, and the upper end of the vertical adjustment motor A521 is fixed to the lower end of the RTK component 32 shell; the intelligent signal processor also includes a horizontal adjustment processing module, the horizontal adjustment processing module is electrically connected to the vertical adjustment motor A521 and the level 40 respectively, and the remote signal processing module is signal-connected to the horizontal adjustment processing module.

[0024] Through the above settings, it can be achieved that when the horizontal adjustment processing module determines through the level meter 40 that the RTK component 32 is not in a horizontal state, the horizontal adjustment module will automatically start and determine through the level meter 40 whether the RTK component 32 is in a horizontal state. If yes, the remote control module will display on the controller that the device is in a horizontal state. If not, the horizontal adjustment processing module will inform the controller that the device is adjusting the horizontal angle through the signal connection between the remote control module and the controller. At the same time, the horizontal adjustment processing module will shorten the support column 52 that is too long through its vertical adjustment motor A521 and extend the support column 52 that is too short through its vertical adjustment motor A521 according to the inclination angle. The effect of external gravity will make the RTK platform 3 in a horizontal state. After that, the horizontal adjustment processing module will inform the operator that the device is in a horizontal state through the signal connection between the remote signal processing module and the controller. At this time, the measured coordinates will be more accurate than before.

[0025] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. A mountaintop image control intelligent deployment system based on drones, characterized in that: It comprises an RTK platform (3), a support device (5) installed at the bottom of the RTK platform (3), an image control cloth fixing device (4) arranged inside the support device (5), an intelligent signal processor and a controller; The support device (5) comprises an image control cloth bottom frame (50), a plurality of image control cloth side frames (53) hinged to the periphery of the image control cloth bottom frame (50), an image control cloth (2) respectively fixed to the image control cloth bottom frame (50) and the plurality of image control cloth side frames (53), and a plurality of support columns (52) arranged at four corners of the image control cloth bottom frame (50), the top of the support column (52) being connected to the bottom of the RTK platform (3), and each of the support columns (52) comprising a support column body (522) ), a vertical adjustment motor B (523), a pressure sensor mounting column (524) and a pressure sensor (525) are respectively arranged in the hole at the lower end of the support column body (522), the vertical adjustment motor B (523) is fixed to the lower end of the support column body (522), the pressure sensor mounting column (524) is threadedly connected to the rotating shaft of the vertical adjustment motor B (523), and the pressure sensor (525) is fixed to the lower end of the pressure sensor mounting column (524); The image control cloth fixing device (4) comprises a level (40), a limiting tube (42) fixed at the bottom end of the level (40), a level installation column (41) and a double-axis fixed motor (43) both installed in the limiting tube (42), one output shaft of the double-axis fixed motor (43) being threadedly connected to the level installation column (41) via a thread, an upper rotating shaft (44) being fixed on the other output shaft of the double-axis fixed motor (43), an electromagnet A (47) being fixed in the middle of the upper rotating shaft (44), a lower rotating shaft (45) being arranged at the lower end of the upper rotating shaft (44), the lower end of the upper rotating shaft (44) and the upper end of the lower rotating shaft (45) being both provided with corresponding one-way teeth, and a fixing screw (46) being fixed at the lower end of the lower rotating shaft (45); The intelligent signal processor comprises a remote signal processing module, a docking processing module and a fixed processing module. The docking processing module is electrically connected to the vertical adjustment motor B (523) and the pressure sensor (525) respectively. The fixed processing module is electrically connected to the dual-axis fixed motor (43) and the electromagnet A (47) respectively. The controller, the docking processing module and the fixed processing module are all signal-connected to the remote signal processing module.

2. The mountaintop image control intelligent deployment system based on drones according to claim 1 is characterized in that: The RTK platform (3) comprises an RTK component (32), a fixing clamp (30) fixed to the top of the RTK component (32), and a camera device rotating motor (33) arranged at the lower corner of the housing of the RTK component (32); a camera device (31) is fixed to the output shaft of the camera device rotating motor (33); a plurality of electromagnet fixing columns (35) are fixed to the bottom side of the RTK component (32); and an electromagnet B (36) is arranged at the lower end of each of the electromagnet fixing columns (35).

3. The mountaintop image control intelligent deployment system based on drones according to claim 2 is characterized in that: The intelligent signal processor also includes a coordinate detection module, the coordinate detection module is electrically connected to the camera device rotation motor (33) and the RTK component (32) respectively, the fixed processing module is electrically connected to the electromagnet B (36), and the remote signal processing module is signal-connected to the coordinate detection module.

4. The mountaintop image control intelligent deployment system based on drones according to claim 2 is characterized in that: The support column (52) further comprises a vertical adjustment motor A (521), the rotation shaft of the vertical adjustment motor A (521) being threadedly connected to the upper end of the support column body (522), and the upper end of the vertical adjustment motor A (521) being fixed to the lower end of the housing of the RTK component (32).

5. The mountaintop image control intelligent deployment system based on drones according to claim 4 is characterized in that: The intelligent signal processor further comprises a horizontal adjustment processing module, the horizontal adjustment processing module being electrically connected to the vertical adjustment motor A (521) and the level meter (40) respectively, and the remote signal processing module being signal-connected to the horizontal adjustment processing module.

6. The mountaintop image control intelligent deployment system based on drones according to claim 2 is characterized in that: A spike is arranged on the outer side of each image control cloth side frame (53), and permanent magnets (51) are installed at the upper ends of the plurality of image control cloth side frames (53) corresponding to the electromagnets B (36).

7. The mountaintop image control intelligent deployment system based on drones according to claim 1 is characterized in that: A hole corresponding to the electromagnet A (47) is formed at the upper end of the lower rotating shaft (45), and the periphery of the hole of the lower rotating shaft (45) is made of magnetic material.

8. The mountaintop image control intelligent deployment system based on drones according to claim 1 is characterized in that: The housing of the dual-axis fixed motor (43) is a square structure, and the size of the dual-axis fixed motor (43) corresponds to the size of the opening below the limiting tube (42).

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