A patrol drone for ground coal fire monitoring and positioning

Abstract

The invention discloses an inspection UAV for monitoring and locating coal fires on the ground, belonging to the technical field of UAVs, and comprising: a carbon fiber frame, with mounting parts extending outwardly and fixed at its four corners; an arm, which is arranged corresponding to each of the mounting parts, and a propeller is installed at one end of the arm away from the mounting part; an optoelectronic pod, which is arranged below the middle of the carbon fiber frame, a hanging plate is arranged at the center of the lower end surface of the carbon fiber frame, and the upper end of the optoelectronic pod is connected and fixed to the hanging plate; an infrared camera is installed in the optoelectronic pod, and a satellite positioning system is arranged in the optoelectronic pod; a variable axis unit, which is arranged corresponding to each of the mounting parts, and a plurality of the variable axis units simultaneously perform axial adjustment on the arm; a center of gravity adjuster, which is arranged inside the carbon fiber frame; the center of gravity adjuster and the variable axis unit arranged in the invention can be adjusted synchronously, so as to improve the flight stability and high maneuverability of the UAV.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular is an inspection unmanned aerial vehicle used for monitoring and positioning ground coal fires. Background Art

[0002] With the rapid development of the drone industry, more and more drones are being used in agriculture, forestry, electricity, inspection, telemetry and other industries. In the field of coal fire monitoring, due to the vast area of ​​the mining area, manual inspection is time-consuming and labor-intensive; drones can quickly cover large areas, realize automatic inspections at fixed times and fixed points, and combine ground stations and satellite communications to achieve real-time data transmission and remote monitoring;

[0003] At present, common inspection drones are small four-wing drones. Due to their small size and weak load-bearing capacity, carrying multiple monitoring equipment can easily affect the flight stability of the drone. Since the mining area is relatively open and the wind environment changes more complexly, the flight resistance and cruising difficulty are increased to a certain extent. In the prior art, such as the invention patent with publication number CN112193413A, the overall arm of the drone is designed to be "H" shaped. Although it reduces the structural weight and reduces the flight components to a certain extent, the stability of the drone is weak in the complex wind environment of the mining area, and it is easy to yaw or even crash, which increases the cost of cruise monitoring.

[0004] Therefore, it is necessary to provide a patrol drone for ground coal fire monitoring and positioning to solve the problems raised in the above background technology. Summary of the invention

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a patrol drone for ground coal fire monitoring and positioning, comprising:

[0006] The carbon fiber frame has mounting parts extending outwardly and fixed at the four corners;

[0007] The landing gear is fixed to the lower end surface of the carbon fiber frame.

[0008] An arm is provided corresponding to each of the mounting portions, the arm and the mounting portion are on the same axis, and a propeller is installed at one end of the arm away from the mounting portion;

[0009] The optoelectronic pod is arranged below the middle of the carbon fiber frame, a hanging plate is arranged at the center of the lower end surface of the carbon fiber frame, and the upper end of the optoelectronic pod is connected and fixed to the hanging plate;

[0010] An infrared camera is installed in the optoelectronic pod, and the infrared camera acquires infrared image data of the target area in real time;

[0011] A satellite positioning system is arranged in the optoelectronic pod, and the satellite positioning system provides auxiliary positioning and navigation for the UAV through wireless communication;

[0012] A variable axis unit is provided corresponding to each of the mounting parts, one end of the variable axis unit is fixed to the carbon fiber frame through the mounting part, each of the machine arms is connected to the variable axis unit respectively, and a plurality of the variable axis units simultaneously perform axial adjustment on the machine arms;

[0013] A center of gravity adjuster is arranged inside the carbon fiber frame, the lower end of the center of gravity adjuster is connected to the hanging plate, and is used to adjust the center of gravity of the optoelectronic pod so that the overall center of gravity of the optoelectronic pod is close to or away from the carbon fiber frame;

[0014] Among them, a ground wind measuring base station is set up in the target area, and the ground wind measuring base station can predict the changes in wind direction and wind speed in the target area. The center of gravity regulator and the variable axis unit adaptively adjust the wheelbase size of the drone and the center of gravity position of the optoelectronic pod based on the changes in environmental wind force in the target area, so that the drone can maintain stability and high flexibility during inspection.

[0015] Preferably, the variable axis unit comprises:

[0016] A shaft tube is arranged parallel to the axis direction of the mounting portion, one end of the shaft tube is connected to the mounting portion, and the machine arm is slidably connected in the shaft tube;

[0017] A guide sleeve is fixed at the other end of the shaft tube, wherein two side rods are slidably connected in the guide sleeve, and one end of each side rod is slidably connected to the mounting portion;

[0018] A clamping plate is detachably fixed to the machine arm, and the other end of each of the side rods is fixedly connected to the clamping plate;

[0019] A sealing chamber is provided in the mounting portion, wherein a piston is slidably connected in the sealing chamber, and one end of the piston is connected to the machine arm;

[0020] A support spring is arranged between the piston and the machine arm. The inner wall of the sealing chamber is provided with a limiting convex edge, and one end of the support spring is in contact with the limiting convex edge.

[0021] Preferably, an inner liquid pan is fixed in the center of the carbon fiber frame, four liquid bins are evenly distributed in the inner liquid pan, one end of the mounting portion is sealed and connected to the inner liquid pan, liquid holes are provided on the side walls of the inner liquid pan at the positions of the liquid bins, and the sealed bins are connected to the liquid bins through the liquid holes;

[0022] A guide ring is relatively rotatably arranged in the inner liquid pan, and a plurality of floating shafts are fixed on the guide ring. The outer wall of each floating shaft is in sealing and sliding contact with the inner wall of the inner liquid pan.

[0023] Preferably, the center of gravity adjuster comprises:

[0024] A mounting plate is fixed in the carbon fiber frame, a connecting plate is fixed above the mounting plate in parallel, two fixing rods are vertically fixed on the connecting plate, and the lower ends of the fixing rods are connected to the mounting plate;

[0025] A shaft sleeve, vertically rotatably connected in the connecting plate;

[0026] A central shaft is vertically slidably connected in the carbon fiber frame, the lower end of the central shaft is connected to the hanging plate, and the upper end of the central shaft is threadedly connected to the shaft sleeve;

[0027] A transmission tooth is coaxially fixed outside the shaft sleeve, and a spur rack is horizontally slidably connected to the mounting plate, and the spur rack meshes with the transmission tooth;

[0028] A propulsion cylinder is mounted on the mounting plate, and an output end of the propulsion cylinder is connected to the spur rack.

[0029] Preferably, a sliding sleeve is coaxially installed in the guide ring, a snap ring is slidably installed on the sliding sleeve, a snap groove is provided on the guide ring, the snap ring is connected and assembled with the snap groove, the central shaft is slidably connected in the sliding sleeve, and a pin is vertically fixed on the central shaft;

[0030] A guide groove is provided on the side wall of the sliding sleeve, and the pin is slidably connected to the guide groove.

[0031] Preferably, the guide groove is distributed obliquely on the sleeve, and when the retaining ring is connected and assembled with the retaining groove, the guide ring is fixed to the sleeve, so that the central axis slides up and down by sliding along the guide groove through the pin to push the guide ring to rotate.

[0032] Preferably, the guide grooves are multiple and circumferentially distributed, and the slopes of the guide grooves are different;

[0033] An arc-shaped opening is provided below the side wall of the sliding sleeve, and each of the guide grooves is connected to the arc-shaped opening;

[0034] A fine-tuning motor is arranged below the inner liquid tray, and an output end of the fine-tuning motor is connected with the sliding sleeve for transmission through gear meshing.

[0035] Preferably, when the retaining ring is disengaged from the retaining groove, the sliding sleeve can enable the pin to slide and dock with guide grooves of different slopes under deflection adjustment.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] The four arms of the cruise UAV used in the present invention are all provided with variable axis units, which can effectively adjust the wheelbase of the UAV, thereby changing the flight stability and operational flexibility of the UAV; the center of gravity regulator is also provided therein, which can relatively adjust the center of gravity position of the optoelectronic pod under the UAV, so that the center of gravity of the optoelectronic pod is close to or away from the propeller disc plane of the UAV, further adjusting the stability and maneuverability of the UAV; and the center of gravity regulator and the variable axis unit can be adjusted synchronously, so as to perform adaptive adjustment based on the environmental wind conditions in the monitoring area, so that the UAV can maintain stability during inspection while having high maneuverability. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0039] Figure 2 It is a front view of the present invention;

[0040] Figure 3 for Figure 1 A schematic diagram of the structure enlargement in the middle;

[0041] Figure 4 It is a structural schematic diagram of the variable axis unit in the present invention;

[0042] Figure 5 It is a structural schematic diagram of the inner liquid tray in the present invention;

[0043] Figure 6 It is a structural schematic diagram of the center of gravity adjuster in the present invention;

[0044] Figure 7 It is a schematic diagram of the structure of the propulsion cylinder and the spur rack in the present invention;

[0045] Figure 8 It is a cross-sectional view of the internal structure of the center of gravity adjuster of the present invention;

[0046] Fig. 9 It is a structural schematic diagram of the sliding sleeve in the present invention;

[0047] Fig.10 It is a structural schematic diagram of the clamp ring in the present invention;

[0048] In the figure: 1. carbon fiber frame; 11. mounting part; 12. landing gear; 13. machine arm; 14. propeller; 15. optoelectronic pod; 16. hanging plate; 2. variable axis unit; 21. axis tube; 22. guide sleeve; 23. side rod; 24. clamp; 25. piston; 26. support spring; 27. sealing chamber; 3. center of gravity adjuster; 31. mounting plate; 32. connecting plate; 33. shaft sleeve; 34. center shaft; 35. transmission gear; 36. straight rack; 37. propulsion cylinder; 4. internal liquid tray; 41. liquid chamber; 42. liquid hole; 43. guide ring; 44. floating shaft; 5. sliding sleeve; 51. pin; 52. guide groove; 53. arc-shaped opening; 54. retaining ring. DETAILED DESCRIPTION

[0049] See also Figure 1-Figure 10 In an embodiment of the present invention, a patrol drone for ground coal fire monitoring and positioning includes:

[0050] The carbon fiber frame 1 has mounting portions 11 extending outwardly and fixed at its four corners;

[0051] The landing gear 12 is fixed on the lower end surface of the carbon fiber frame 1.

[0052] The machine arm 13 is arranged corresponding to each of the mounting parts 11, the machine arm 13 and the mounting part 11 are on the same axis, and a propeller 14 is installed at one end of the machine arm 13 away from the mounting part 11; thus forming a conventional four-wing UAV;

[0053] The optoelectronic pod 15 is arranged below the middle of the carbon fiber frame 1. A hanging plate 16 is arranged at the center of the lower end surface of the carbon fiber frame 1. The upper end of the optoelectronic pod 15 is connected and fixed to the hanging plate 16.

[0054] An infrared camera is installed in the photoelectric pod 15, and the infrared camera acquires infrared image data of the target area in real time; thus, it can be determined whether there is a coal fire disaster in the target area according to the infrared image data;

[0055] A satellite positioning system is provided in the optoelectronic pod 15, and the satellite positioning system provides auxiliary positioning and navigation for the UAV through wireless communication;

[0056] The variable axis unit 2 is arranged corresponding to each of the mounting parts 11, one end of the variable axis unit 2 is fixed to the carbon fiber frame 1 through the mounting part 11, each of the arms 13 is connected to the variable axis unit 2, and multiple variable axis units 2 simultaneously adjust the arms 13 axially, thereby realizing the wheelbase adjustment of the drone;

[0057] A gravity center adjuster 3 is arranged inside the carbon fiber frame 1, the lower end of the gravity center adjuster 3 is connected to the hanging plate 16, and is used to adjust the gravity center of the optoelectronic pod 15 so that the overall gravity center of the optoelectronic pod 15 is close to or away from the carbon fiber frame 1;

[0058] Among them, a ground wind measuring base station is set up in the target area, and the ground wind measuring base station can predict the changes in wind direction and wind speed in the target area. The center of gravity regulator 3 and the variable axis unit 2 adaptively adjust the wheelbase size of the UAV and the center of gravity position of the optoelectronic pod 15 based on the environmental wind changes in the target area, so that the UAV can maintain stability and have high flexibility during inspection; that is to say, under different wind environment adjustments, the flight stability and maneuverability of the UAV can be changed by adaptively adjusting the wheelbase of the UAV, and the stability and maneuverability of the UAV can be further adjusted by adjusting the center of gravity position of the optoelectronic pod 15; therefore, when the center of gravity regulator 3 and the variable axis unit 2 are synchronously adjusted, their flight performance can be greatly improved. On the one hand, they can effectively cope with the influence of strong wind or changing wind, and on the other hand, they can adapt to different monitoring environments and reduce the risk of crashing.

[0059] In this embodiment, the variable axis unit 2 includes:

[0060] The shaft tube 21 is arranged parallel to the axis direction of the mounting portion 11, one end of the shaft tube 21 is connected to the mounting portion 11, and the arm 13 is slidably connected in the shaft tube 21;

[0061] A guide sleeve 22 is fixed to the other end of the shaft tube 21. Two side rods 23 are slidably connected in the guide sleeve 22. One end of each side rod 23 is slidably connected to the mounting portion 11.

[0062] A clamping plate 24 is detachably fixed to the machine arm 13, and the other end of each of the side rods 23 is fixedly connected to the clamping plate 24;

[0063] A sealing chamber 27 is provided in the mounting portion 11, a piston 25 is slidably connected in the sealing chamber 27, and one end of the piston 25 is connected to the machine arm 13;

[0064] The support spring 26 is disposed between the piston 25 and the machine arm 13 . The inner wall of the sealing chamber 27 is provided with a limiting convex edge, and one end of the support spring 26 is in contact with the limiting convex edge.

[0065] As a preferred embodiment, an inner liquid pan 4 is fixed in the center of the carbon fiber frame 1, and four liquid bins 41 are evenly distributed in the inner liquid pan 4. One end of the mounting portion 11 is sealed and connected to the inner liquid pan 4. Liquid holes 42 are opened on the side walls of the inner liquid pan 4 at the positions of the liquid bins 41, and the sealed bin 27 is connected to the liquid bins 41 through the liquid holes 42.

[0066] A guide ring 43 is relatively rotatably arranged in the inner liquid pan 4, and a plurality of floating shafts 44 are fixed on the guide ring 43. The outer wall of each floating shaft 44 is in sealed sliding contact with the inner wall of the inner liquid pan 4, wherein hydraulic oil is stored in the liquid tank 41 of the inner liquid pan 4. When the guide ring 43 is rotated and adjusted, the floating shaft 44 in each liquid tank 41 can squeeze the hydraulic oil in the liquid tank 41 into the sealing tank 27 during rotation, thereby quickly changing the wheelbase of the UAV and improving the flight performance of the UAV.

[0067] In this embodiment, the center of gravity adjuster 3 includes:

[0068] A mounting plate 31 is fixed in the carbon fiber frame 1, a connecting plate 32 is fixed parallel to the top of the mounting plate 31, two fixing rods are vertically fixed on the connecting plate 32, and the lower ends of the fixing rods are connected to the mounting plate 31;

[0069] A shaft sleeve 33 is vertically rotatably connected in the connecting plate 32;

[0070] A central shaft 34 is vertically slidably connected in the carbon fiber frame 1, the lower end of the central shaft 34 is connected to the hanging plate 16, and the upper end of the central shaft 34 is threadedly connected to the shaft sleeve 33;

[0071] The transmission tooth 35 is coaxially fixed outside the shaft sleeve 33, and a spur rack 36 is horizontally slidably connected to the mounting plate 31, and the spur rack 36 meshes with the transmission tooth 35;

[0072] The propulsion cylinder 37 is installed on the mounting plate 31, and the output end of the propulsion cylinder 37 is connected to the spur rack 36, that is, the propulsion cylinder 37 controls the spur rack 36 to slide left and right during telescopic drive, and the spur rack 36 rotates on the drive shaft sleeve 33 under the gear meshing action, so that the central shaft 34 can be adjusted to slide up and down accordingly, so that the optoelectronic pod 15 under the central shaft 34 can be synchronously displaced, thereby changing the center of gravity position of the optoelectronic pod 15, wherein, when the center of gravity position of the optoelectronic pod 15 gradually approaches the propeller disk plane of the propeller 14, its flight resistance becomes smaller, thereby enhancing the maneuverability of the UAV, but the stability is relatively weakened; and when the center of gravity position of the optoelectronic pod 15 is far away from the propeller disk plane of the propeller 14, the flight resistance of the UAV increases and the stability is enhanced.

[0073] In this embodiment, a sliding sleeve 5 is coaxially installed in the guide ring 43, a snap ring 54 is slidably installed on the sliding sleeve 5, a snap groove is provided on the guide ring 43, the snap ring 54 is connected and assembled with the snap groove, the central shaft 34 is slidably connected in the sliding sleeve 5, and a pin 51 is vertically fixed on the central shaft 34;

[0074] A guide groove 52 is formed on the side wall of the sliding sleeve 5 , and the pin 51 is slidably connected to the guide groove 52 .

[0075] In this embodiment, the guide groove 52 is distributed in an oblique line on the sleeve 5. When the retaining ring 54 is connected and assembled with the retaining groove, the guide ring 43 is fixed to the sleeve 5, so that the central axis 34 slides along the guide groove 52 through the pin 51 to push the guide ring 43 to rotate during the up and down sliding, so that the center of gravity regulator 3 can synchronously control the variable axis unit 2 to change the wheelbase of the drone when adjusting the position of the optoelectronic pod 15 under the drone, thereby quickly adjusting the flight stability and maneuverability of the drone.

[0076] As a preferred embodiment, the guide grooves 52 are multiple and circumferentially distributed, and the slopes of the guide grooves 52 are different;

[0077] An arc-shaped opening 53 is provided below the side wall of the sliding sleeve 5, and each of the guide grooves 52 is connected to the arc-shaped opening 53;

[0078] A fine-tuning motor is arranged below the inner liquid tray 4 , and an output end of the fine-tuning motor is connected to the sliding sleeve 5 for transmission through gear meshing.

[0079] In this embodiment, when the retaining ring 54 is disengaged from the retaining groove, the sliding sleeve 5 can make the pin 51 slide and dock with the guide groove 52 of different slopes under deflection adjustment; when the pin 51 slides and docks with the guide groove 52 of different slopes, the maximum value, minimum value, adjustment accuracy, etc. of the wheelbase of the UAV can be effectively controlled and adjusted through the variable axis unit 2, and the steeper guide groove 52 (high slope) can make the wheelbase change smoother and more accurate, while the gentler guide groove 52 (low-high slope) can make the range between the maximum value and the minimum value of the wheelbase larger; therefore, before the UAV operates the cruise operation, the wind intensity in the target area can be predicted according to the ground wind measurement base station, and the guide groove 52 with the corresponding slope can be selected in the ground preparation stage to control the wheelbase adjustment range and adjustment accuracy in the flight adjustment of the UAV, so that the center of gravity position of the optoelectronic pod 15 under the UAV can be adjusted in the subsequent cruise flight in combination with the center of gravity regulator 3, so that the UAV can achieve the best flight stability and maneuverability, and ensure the best flight performance.

[0080] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A patrol drone for ground coal fire monitoring and positioning, characterized in that: It includes: A carbon fiber frame (1) having mounting portions (11) extending outwardly and fixed at four corners thereof; The landing gear (12) is fixed on the lower end surface of the carbon fiber frame (1). An arm (13) is arranged corresponding to each of the mounting portions (11), the arm (13) and the mounting portion (11) are located on the same axis, and a propeller (14) is installed at one end of the arm (13) away from the mounting portion (11); The optoelectronic pod (15) is arranged below the middle of the carbon fiber frame (1), a hanging plate (16) is arranged at the center of the lower end surface of the carbon fiber frame (1), and the upper end of the optoelectronic pod (15) is connected and fixed to the hanging plate (16); an infrared camera installed in the optoelectronic pod (15); a satellite positioning system arranged in the optoelectronic pod (15); A variable axis unit (2) is arranged corresponding to each of the mounting parts (11); one end of the variable axis unit (2) is fixed to the carbon fiber frame (1) through the mounting part (11); each of the machine arms (13) is connected to the variable axis unit (2), respectively; and a plurality of the variable axis units (2) simultaneously perform axial adjustment on the machine arms (13); A center of gravity adjuster (3) is arranged inside the carbon fiber frame (1), the lower end of the center of gravity adjuster (3) is connected to the hanging plate (16), and is used to adjust the center of gravity of the optoelectronic pod (15); The center of gravity regulator (3) comprises: A mounting plate (31) is fixed in the carbon fiber frame (1), a connecting plate (32) is fixed in parallel above the mounting plate (31), two fixing rods are vertically fixed on the connecting plate (32), and the lower ends of the fixing rods are connected to the mounting plate (31); A shaft sleeve (33) is vertically rotatably connected in the connecting plate (32); A central shaft (34) is vertically slidably connected in the carbon fiber frame (1), the lower end of the central shaft (34) is connected to the hanging plate (16), and the upper end of the central shaft (34) is threadedly connected to the shaft sleeve (33); An inner liquid pan (4) is fixed at the center of the carbon fiber frame (1), and a guide ring (43) is arranged in the inner liquid pan (4) so ​​as to be relatively deflectable; A sliding sleeve (5) is coaxially installed in the guide ring (43), a snap ring (54) is slidably installed on the sliding sleeve (5), a snap groove is provided on the guide ring (43), the snap ring (54) is connected and assembled with the snap groove, the central shaft (34) is slidably connected in the sliding sleeve (5), and a pin (51) is vertically fixed on the central shaft (34); A guide groove (52) is provided on the side wall of the sliding sleeve (5), and the pin (51) is slidably connected to the guide groove (52).

2. The inspection drone for ground coal fire monitoring and positioning according to claim 1, characterized in that: The variable axis unit (2) comprises: A shaft tube (21) is arranged parallel to the axis direction of the mounting portion (11), one end of the shaft tube (21) is connected to the mounting portion (11), and the machine arm (13) is slidably connected in the shaft tube (21); A guide sleeve (22) is fixed to the other end of the shaft tube (21), and two side rods (23) are slidably connected inside the guide sleeve (22), and one end of each side rod (23) is slidably connected to the mounting portion (11); A clamping plate (24) is detachably fixed on the machine arm (13), and the other end of each of the side rods (23) is fixedly connected to the clamping plate (24); A sealing chamber (27) is provided in the mounting portion (11), a piston (25) is slidably connected in the sealing chamber (27), and one end of the piston (25) is connected to the machine arm (13); A support spring (26) is arranged between the piston (25) and the machine arm (13); the inner wall of the sealing chamber (27) is provided with a limiting convex edge, and one end of the support spring (26) is in contact with the limiting convex edge.

3. The inspection drone for ground coal fire monitoring and positioning according to claim 2, characterized in that: Four liquid bins (41) are evenly distributed in the inner liquid pan (4); one end of the mounting portion (11) is sealed and connected to the inner liquid pan (4); liquid holes (42) are provided on the side wall of the inner liquid pan (4) at the positions of the liquid bins (41); and the sealed bin (27) is connected to the liquid bin (41) through the liquid holes (42); A plurality of floating shafts (44) are fixed on the guide ring (43), and the outer wall of each floating shaft (44) is in sealing and sliding contact with the inner wall of the inner liquid tray (4).

4. The inspection drone for ground coal fire monitoring and positioning according to claim 3, characterized in that: The center of gravity regulator (3) also includes: A transmission tooth (35) is coaxially fixed outside the shaft sleeve (33); a spur rack (36) is horizontally slidably connected to the mounting plate (31); the spur rack (36) is meshed with the transmission tooth (35); a propulsion cylinder (37) is mounted on the mounting plate (31); an output end of the propulsion cylinder (37) is connected to the spur rack (36).

5. The inspection drone for ground coal fire monitoring and positioning according to claim 1, characterized in that: The guide groove (52) is distributed on the sliding sleeve (5) in an oblique line. When the clamping ring (54) is connected and assembled with the clamping groove, the guide ring (43) is fixed to the sliding sleeve (5), so that the central shaft (34) slides up and down through the pin (51) along the guide groove (52) to push the guide ring (43) to rotate.

6. The inspection drone for ground coal fire monitoring and positioning according to claim 5, characterized in that: The guide grooves (52) are multiple and distributed around a circumference, and the slopes of the guide grooves (52) are different; An arc-shaped opening (53) is provided below the side wall of the sliding sleeve (5), and each of the guide grooves (52) is connected to the arc-shaped opening (53); A fine-tuning motor is arranged below the inner liquid tray (4), and the output end of the fine-tuning motor is connected to the sliding sleeve (5) for transmission through gear meshing.

7. The inspection drone for ground coal fire monitoring and positioning according to claim 6, characterized in that: When the clamping ring (54) is disengaged from the clamping groove, the sliding sleeve (5) can enable the pin (51) to slide and dock with the guide grooves (52) of different slopes under deflection adjustment.

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