Unmanned aerial vehicle based on visual obstacle avoidance and use method thereof

Abstract

The invention discloses an unmanned aerial vehicle based on visual obstacle avoidance and a use method thereof.The unmanned aerial vehicle comprises an unmanned aerial vehicle assembly and a remote control assembly, the unmanned aerial vehicle assembly comprises a fuselage and an unmanned aerial vehicle mainboard, the unmanned aerial vehicle mainboard is installed in an inner cavity of the fuselage, and an obstacle avoidance detection assembly is installed on the surface of the unmanned aerial vehicle assembly; the obstacle avoidance detection assembly comprises a visual camera, an infrared sensor, a front visual sensor, a millimeter wave radar, an ultrasonic sensor, a laser radar and a rear visual sensor, the visual camera is installed at the front end of the bottom of the machine body, and the ultrasonic sensor and the laser radar are both fixedly connected with the bottom of the machine body; the front vision sensors are installed on the two sides of the front face of the machine body. Through cooperation of the second motor, the worm, the worm gear and the transmission rod, the angle of the visual camera can be adjusted, so that ground obstacles can be monitored through the visual camera in the descending process of the unmanned aerial vehicle, and the descending safety of the unmanned aerial vehicle is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of obstacle avoidance unmanned aerial vehicles, and in particular to an unmanned aerial vehicle based on visual obstacle avoidance and a use method thereof. Background Art

[0002] Obstacle avoidance drones are drones that have real-time obstacle detection and avoidance capabilities. These drones are usually equipped with a variety of sensors and algorithms to ensure that they can safely identify and avoid obstacles during flight. They are mainly used in geological surveys, search and rescue, environmental monitoring and other fields.

[0003] According to the Chinese patent application number: 201920352444.X, a rotor UAV based on binocular vision obstacle avoidance function is disclosed, including a body, a platform is arranged on the upper end of the body, an inner cavity is opened in the middle of the platform, a GPS navigation system, a gyroscope, a gravity sensor, a controller and an accelerometer are arranged in the inner cavity, a binocular vision unit is arranged in front of the body, brushless motors are installed at the four corners of the platform, the bottom end of the brushless motor is fixed on the platform, and the top end is connected to a propeller, which drives the propeller blades to rotate and unfold 180 degrees when taking off, and the two blades are folded when the flight is stopped;

[0004] The existing technology effectively solves the problem of poor maneuverability and stability of drones and has the advantage of improving flight performance. However, the visual camera of this obstacle avoidance drone cannot monitor ground obstacles in real time during the descent of the drone and can only monitor them through sensors, thereby reducing the safety of the drone during descent. Summary of the invention

[0005] The purpose of the present invention is to provide a UAV based on visual obstacle avoidance and a method of using the same, which has the advantages of being able to adjust the angle of a visual camera and improving the safety of the UAV's descent, and solves the problem that the visual camera of the obstacle avoidance UAV cannot monitor ground obstacles in real time during the descent of the UAV and can only monitor them through sensors, thereby reducing the safety of the UAV during descent.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a drone based on visual obstacle avoidance, comprising a drone component and a remote control component, wherein the drone component comprises a fuselage and a drone mainboard, wherein the drone mainboard is installed in the inner cavity of the fuselage, and an obstacle avoidance detection component is installed on the surface of the drone component, wherein the obstacle avoidance detection component comprises a visual camera, an infrared sensor, a front visual sensor, a millimeter-wave radar, an ultrasonic sensor, a laser radar and a rear visual sensor, wherein the visual camera is installed at the front end of the bottom of the fuselage, the ultrasonic sensor and the laser radar are both fixedly connected to the bottom of the fuselage, the front visual sensor is installed on both sides of the front of the fuselage, the rear visual sensor is installed on the back of the fuselage, the millimeter-wave radar is installed on the top of the fuselage, and the The obstacle avoidance detection component is used for obstacle detection. The remote control component includes a shell, a control component, a display and a remote control main board. The remote control main board is wirelessly connected to the drone main board through radio signals. An adjustment component is installed at the front end of the inner cavity of the fuselage. The adjustment component includes a second motor, a worm, a worm wheel and a transmission rod. The adjustment component is used to adjust the angle of the visual camera. The second motor is fixedly connected to the inner wall of the fuselage, the worm wheel is meshed with the worm, the output shaft of the second motor is connected to the worm, one end of the transmission rod is fixedly connected to the worm wheel, and the other end of the transmission rod passes through the outside of the fuselage and is fixedly connected to the visual camera. The other side of the visual camera is movably connected to the fuselage through a bearing, and a wireless transceiver is installed on the back of the shell.

[0007] Preferably, the drone assembly also includes a main arm, a folding arm, blades, a fill light, a first motor and a posture sensor, wherein the posture sensor is installed in the inner cavity of the fuselage, and the number of the fill lights is two, which are respectively fixed to the bottom and the front of the fuselage.

[0008] Preferably, the first motor is fixed to the inner cavity of the folding arm, the paddle is installed on the top of the folding arm, the output shaft of the first motor passes through the outside of the folding arm and is transmission connected to the paddle, one end of the upper arm is fixedly connected to the fuselage, and the other end of the upper arm is movably connected to the folding arm through a damping shaft.

[0009] Preferably, the remote control mainboard is installed in the inner cavity of the shell, the control component and the display are both installed on the top of the shell, the output end of the control component is connected to the input end of the remote control mainboard, and the output end of the remote control mainboard is connected to the input end of the display.

[0010] Preferably, the control component includes a control lever and an adjustment switch. There are two control levers, which are respectively located on both sides of the top of the shell. The control lever is used to control the drone component, and the adjustment switch is used to adjust the angle of the visual camera.

[0011] Preferably, the output ends of the attitude sensor and the obstacle avoidance detection component are connected to the input end of the drone mainboard, the output end of the drone mainboard is respectively connected to the input ends of the fill light, the first motor and the second motor, and the output end and input end of the wireless transceiver are interconnected with the output end and input end of the remote control mainboard.

[0012] Preferably, the method of use comprises the following steps:

[0013] A. First, after the drone component and the remote control component are powered on, the drone component and the remote control component are connected through the radio signal generated by the wireless transceiver. Encrypted signal connection can be used to ensure the safety of use. Then the folding arm is pulled to one side to unfold it. Then the drone component is controlled to fly through the joystick. The remote control motherboard transmits the flight signal to the drone motherboard. The drone motherboard controls the first motor to start, so that the first motor rotates at high speed to drive the blades to rotate, so that the drone component can perform flight operations;

[0014] B. During the flight, the millimeter-wave radar can detect the distance of surrounding obstacles, and the visual camera, infrared sensor, front visual sensor and rear visual sensor can detect obstacles around the drone components. The visual camera transmits the flight image through the drone main board to the remote controller main board, and the remote controller main board displays the image through the display, which can facilitate the operator's control;

[0015] C. When descending, the angle of the visual camera is adjusted through the control component. After receiving the signal, the drone mainboard controls the second motor to start. The output shaft of the second motor rotates to drive the worm to rotate. When the worm rotates, it drives the worm wheel to rotate. When the worm wheel rotates, the transmission rod drives the visual camera to flip downward, so that the visual camera can detect and identify obstacles on the ground, effectively improving the safety of the drone components when descending.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention achieves the effect of obstacle avoidance flight by setting up a drone component, an obstacle avoidance detection component and a remote control component. The visual camera, infrared sensor, front visual sensor, millimeter wave radar, ultrasonic sensor, laser radar and rear visual sensor are used to detect obstacles on the flight route. The flight attitude of the drone can be adjusted through the cooperation of the shell, the control component and the display, so that the drone can avoid obstacles, effectively improving the safety of the drone flight.

[0018] 2. The present invention can adjust the angle of the visual camera through the cooperation of the second motor, the worm, the worm wheel and the transmission rod, so that the UAV can monitor ground obstacles through the visual camera during the descent, thereby effectively improving the safety of the UAV descent. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0020] Figure 2 It is a schematic diagram of the structure of the drone assembly of the present invention when viewed from above;

[0021] Figure 3 It is a rear view structural schematic diagram of the drone assembly of the present invention;

[0022] Figure 4 It is a schematic diagram of the structure of the separation state of the adjustment component and the visual camera of the present invention;

[0023] Figure 5 It is a schematic diagram of the system flow of the present invention.

[0024] In the figure: 1. UAV component; 101. fuselage; 102. upper arm; 103. folding arm; 104. propeller blade; 105. fill light; 106. first motor; 107. attitude sensor; 108. UAV main board; 2. obstacle avoidance detection component; 201. visual camera; 202. infrared sensor; 203. front visual sensor; 204. millimeter wave radar; 205. ultrasonic sensor; 206. laser radar; 207. rear visual sensor; 3. remote control component; 31. shell; 32. control component; 321. control lever; 322. adjustment switch; 33. display; 34. remote control main board; 4. adjustment component; 401. second motor; 402. worm; 403. worm wheel; 404. transmission rod; 5. wireless transceiver. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] The drone component 1 of the present invention, the fuselage 101, the upper arm 102, the folding arm 103, the blade 104, the fill light 105, the first motor 106, the attitude sensor 107, the drone mainboard 108, the obstacle avoidance detection component 2, the visual camera 201, the infrared sensor 202, the front visual sensor 203, the millimeter wave radar 204, the ultrasonic sensor 205, the laser radar 206, the rear visual sensor 207, the remote control component 3, the shell 31, the control component 32, the control rod 321, the adjustment switch 322, the display 33, the adjustment component 4, the second motor 401, the worm 402, the worm wheel 403, the transmission rod 404 and the wireless transceiver 5 are all universal standard parts or parts known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or through conventional experimental methods.

[0027] Example 1

[0028] like Figure 1-5 As shown in the figure, it is the first embodiment of the present invention, which provides a UAV based on visual obstacle avoidance, including a UAV component 1 and a remote control component 3. The UAV component 1 includes a fuselage 101 and a UAV mainboard 108. The UAV mainboard 108 is installed in the inner cavity of the fuselage 101. An obstacle avoidance detection component 2 is installed on the surface of the UAV component 1. The obstacle avoidance detection component 2 includes a visual camera 201, an infrared sensor 202, a front visual sensor 203, a millimeter wave radar 204, an ultrasonic sensor 205, a laser radar 206 and a rear visual sensor 207. The visual camera 201 is installed at the front end of the bottom of the fuselage 101, the ultrasonic sensor 205 and the laser radar 206 are both fixedly connected to the bottom of the fuselage 101, the front visual sensor 203 is installed on both sides of the front of the fuselage 101, the rear visual sensor 207 is installed on the back of the fuselage 101, the millimeter wave radar 204 is installed on the top of the fuselage 101, and the obstacle avoidance detection component 2 includes a visual camera 201, an infrared sensor 202, a front visual sensor 203, a millimeter wave radar 204, an ultrasonic sensor 205, a laser radar 206 and a rear visual sensor 207. The obstacle detection component 2 is used for obstacle detection. The remote control component 3 includes a shell 31, a control component 32, a display 33 and a remote control main board 34. The remote control main board 34 is wirelessly connected to the drone main board 108 through radio signals. An adjustment component 4 is installed at the front end of the inner cavity of the fuselage 101. The adjustment component 4 includes a second motor 401, a worm 402, a worm wheel 403 and a transmission rod 404. The adjustment component 4 is used to adjust the angle of the visual camera 201. The second motor 401 is fixedly connected to the inner wall of the fuselage 101, the worm wheel 403 is meshed with the worm 402, the output shaft of the second motor 401 is transmission-connected to the worm 402, one end of the transmission rod 404 is fixedly connected to the worm wheel 403, and the other end of the transmission rod 404 passes through the outside of the fuselage 101 and is fixedly connected to the visual camera 201. The other side of the visual camera 201 is movably connected to the fuselage 101 through a bearing. A wireless transceiver 5 is installed on the back of the shell 31.

[0029] like Figure 1-5As shown, the infrared sensor 202, the front visual sensor 203 and the rear visual sensor 207 can detect obstacles around the drone component 1, the millimeter wave radar 204 is used to detect the distance of the obstacle, the ultrasonic sensor 205 and the laser radar 206 are used to detect ground obstacles, the visual camera 201 identifies the obstacles in front during flight, and identifies the ground obstacles during descent, so as to ensure the safety of the drone component 1 during flight and descent. When descending, the angle of the visual camera 201 is adjusted by the control component 32. After receiving the signal, the drone mainboard 108 controls the second motor 401 to start, and the output shaft of the second motor 401 rotates to drive the worm 402 to rotate. When the worm 402 rotates, it drives the worm wheel 403 to rotate. When the worm wheel 403 rotates, it drives the visual camera 201 to flip downward through the transmission rod 404, so that the visual camera 201 can detect and identify ground obstacles, effectively improving the safety of the drone component 1 when descending. The radio signal generated by the wireless transceiver 5 can realize wireless connection between the drone component 1 and the remote control component 3, so as to facilitate signal reception.

[0030] Example 2

[0031] Reference Figure 1-3 , which is the second embodiment of the present invention, and this embodiment is based on the previous embodiment.

[0032] In this embodiment, the drone component 1 also includes a main arm 102, a folding arm 103, a blade 104, a fill light 105, a first motor 106 and a posture sensor 107. The posture sensor 107 is installed in the inner cavity of the fuselage 101. There are two fill lights 105, which are respectively fixed on the bottom and the front of the fuselage 101.

[0033] The first motor 106 is fixed to the inner cavity of the folding arm 103, the paddle 104 is installed on the top of the folding arm 103, the output shaft of the first motor 106 passes through the outside of the folding arm 103 and is transmission-connected to the paddle 104, one end of the upper arm 102 is fixedly connected to the fuselage 101, and the other end of the upper arm 102 is movably connected to the folding arm 103 through a damping shaft.

[0034] like Figure 1-3 As shown, the main arm 102 and the folding arm 103 are connected by a damping shaft, which can facilitate the folding arm 103 to be folded and stored, thereby reducing the occupied space when stored. The first motor 106 rotates at high speed to drive the blades 104 to rotate, so as to enable flight. The fill light 105 is used to provide lighting in insufficient light and at night. While providing lighting, it can also facilitate ground personnel to observe the flight position. The inner cavity of the fuselage 101 is also equipped with a rechargeable battery for providing electrical energy.

[0035] Example 3

[0036] Reference Figure 1 and 5 , which is the third embodiment of the present invention, and this embodiment is based on the previous two embodiments.

[0037] In this embodiment, the remote control mainboard 34 is installed in the inner cavity of the outer shell 31, the control component 32 and the display 33 are both installed on the top of the outer shell 31, the output end of the control component 32 is connected to the input end of the remote control mainboard 34, and the output end of the remote control mainboard 34 is connected to the input end of the display 33.

[0038] The control component 32 includes a control lever 321 and an adjustment switch 322. There are two control levers 321, which are respectively located on both sides of the top of the shell 31. The control lever 321 is used to control the drone component 1, and the adjustment switch 322 is used to adjust the angle of the visual camera 201.

[0039] The output ends of the attitude sensor 107 and the obstacle avoidance detection component 2 are connected to the input end of the drone mainboard 108, the output end of the drone mainboard 108 is respectively connected to the input end of the fill light 105, the first motor 106 and the second motor 401, and the output end and input end of the wireless transceiver 5 are interconnected with the output end and input end of the remote control mainboard 34.

[0040] like Figure 1 and 5 As shown, the UAV component 1 and the remote control component 3 are wirelessly connected through the radio signal of the wireless transceiver 5. The wireless signal of the wireless transceiver 5 can use an encrypted signal, thereby improving the safety of use. Two groups of joysticks 321 are set. By manipulating the joysticks 321, the flight attitude and direction of the UAV component 1 can be adjusted, so that it can avoid obstacles. The display 33 is used to receive the real-time image taken by the visual camera 201, so that the user can conveniently control the flight of the UAV component 1. The adjustment switch 322 is used to adjust the angle of the visual camera 201 so that it can monitor ground obstacles during the descent. The UAV component 1 and the remote control component 3 are both powered by rechargeable batteries.

[0041] A method for using a drone based on visual obstacle avoidance: The method comprises the following steps:

[0042] A. First, after the drone component 1 and the remote control component 3 are powered on, the drone component 1 and the remote control component 3 are connected through the radio signal generated by the wireless transceiver 5. Encrypted signal connection can be used to ensure the safety of use. Then the folding arm 103 is pulled to one side to unfold it. Then the drone component 1 is controlled to fly through the joystick 321. The remote control mainboard 34 transmits the flight signal to the drone mainboard 108. The drone mainboard 108 controls the first motor 106 to start, so that the first motor 106 rotates at a high speed to drive the blades 104 to rotate, so that the drone component 1 can perform flight operations;

[0043] B. During the flight, the millimeter wave radar 204 can detect the distance of surrounding obstacles, the visual camera 201, the infrared sensor 202, the front visual sensor 203 and the rear visual sensor 207 can detect obstacles around the drone component 1, and the visual camera 201 transmits the flight picture to the remote controller main board 34 through the drone main board 108, and the remote controller main board 34 displays the picture through the display 33, so as to facilitate the operator's control;

[0044] C. When descending, the angle of the visual camera 201 is adjusted through the control component 32. After receiving the signal, the drone mainboard 108 controls the second motor 401 to start. The output shaft of the second motor 401 rotates to drive the worm 402 to rotate. When the worm 402 rotates, it drives the worm wheel 403 to rotate. When the worm wheel 403 rotates, the visual camera 201 is driven to flip downward through the transmission rod 404, so that the visual camera 201 can detect and identify ground obstacles, effectively improving the safety of the drone component 1 when descending.

[0045] The standard parts used in this application document can all be purchased from the market and can be customized according to the description in the specification and drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt conventional models in the prior art. The control method is automatic control through a controller. The control circuit of the controller can be implemented through simple programming by technicians in this field, which is common knowledge in the field. This application is mainly used to protect mechanical devices, so this application no longer explains the control method and circuit connection in detail.

[0046] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0047] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A drone based on visual obstacle avoidance, comprising a drone component (1) and a remote control component (3), characterized in that: The drone component (1) comprises a fuselage (101) and a drone mainboard (108), wherein the drone mainboard (108) is installed in the inner cavity of the fuselage (101), and an obstacle avoidance detection component (2) is installed on the surface of the drone component (1), wherein the obstacle avoidance detection component (2) comprises a visual camera (201), an infrared sensor (202), a front visual sensor (203), a millimeter wave radar (204), an ultrasonic sensor (205), a laser radar (206) and a rear visual sensor (207), wherein the visual camera (201) is provided with a plurality of infrared sensors (202), a front visual sensor (203), a millimeter wave radar (204), an ultrasonic sensor (205), a laser radar (206) and a rear visual sensor (207). The machine (201) is installed at the front end of the bottom of the fuselage (101), the ultrasonic sensor (205) and the laser radar (206) are both fixedly connected to the bottom of the fuselage (101), the front visual sensor (203) is installed on both sides of the front of the fuselage (101), the rear visual sensor (207) is installed on the back of the fuselage (101), the millimeter wave radar (204) is installed on the top of the fuselage (101), the obstacle avoidance detection component (2) is used for obstacle detection, and the remote control component (3) includes a housing (31 ), a control component (32), a display (33) and a remote controller main board (34), wherein the remote controller main board (34) is wirelessly connected to the drone main board (108) via radio signals, an adjustment component (4) is installed at the front end of the inner cavity of the fuselage (101), and the adjustment component (4) includes a second motor (401), a worm (402), a worm wheel (403) and a transmission rod (404), and the adjustment component (4) is used to adjust the angle of the visual camera (201), and the second motor (401) is connected to the fuselage (101) The worm wheel (403) is meshed with the worm (402), the output shaft of the second motor (401) is transmission-connected to the worm (402), one end of the transmission rod (404) is fixedly connected to the worm wheel (403), the other end of the transmission rod (404) passes through the outside of the body (101) and is fixedly connected to the visual camera (201), the other side of the visual camera (201) is movably connected to the body (101) via a bearing, and a wireless transceiver (5) is installed on the back of the housing (31).

2. The UAV based on visual obstacle avoidance according to claim 1, characterized in that: The drone assembly (1) further comprises a large arm (102), a folding arm (103), a propeller blade (104), a fill light (105), a first motor (106) and a posture sensor (107); the posture sensor (107) is installed in the inner cavity of the fuselage (101); there are two fill lights (105), which are respectively fixed at the bottom and the front of the fuselage (101).

3. The visual obstacle avoidance UAV according to claim 2, characterized in that: The first motor (106) is fixed to the inner cavity of the folding arm (103), the paddle (104) is installed on the top of the folding arm (103), the output shaft of the first motor (106) passes through the outside of the folding arm (103) and is transmission-connected to the paddle (104), one end of the upper arm (102) is fixedly connected to the fuselage (101), and the other end of the upper arm (102) is movably connected to the folding arm (103) via a damping shaft.

4. The UAV based on visual obstacle avoidance according to claim 1, characterized in that: The remote control mainboard (34) is installed in the inner cavity of the outer shell (31), the control component (32) and the display (33) are both installed on the top of the outer shell (31), the output end of the control component (32) is connected to the input end of the remote control mainboard (34), and the output end of the remote control mainboard (34) is connected to the input end of the display (33).

5. The UAV based on visual obstacle avoidance according to claim 1, characterized in that: The control component (32) comprises a control rod (321) and an adjustment switch (322). There are two control rods (321) and they are respectively located on two sides of the top of the housing (31). The control rod (321) is used to control the drone component (1), and the adjustment switch (322) is used to adjust the angle of the visual camera (201).

6. The visual obstacle avoidance UAV according to claim 2, characterized in that: The output ends of the attitude sensor (107) and the obstacle avoidance detection component (2) are both connected to the input end of the drone mainboard (108), the output end of the drone mainboard (108) is respectively connected to the input ends of the fill light (105), the first motor (106) and the second motor (401), and the output end and input end of the wireless transceiver (5) are both interconnected with the output end and input end of the remote control mainboard (34).

7. A method for using a drone based on visual obstacle avoidance according to any one of claims 1 to 6, characterized in that: The method of use includes the following steps: A. First, after the drone component (1) and the remote control component (3) are powered on, the drone component (1) and the remote control component (3) are connected via a radio signal generated by a wireless transceiver (5). Encrypted signal connection may be used to ensure safety of use. Then, the folding arm (103) is pulled to one side to unfold it. Then, the drone component (1) is controlled to fly via a joystick (321). The remote control mainboard (34) transmits a flight signal to the drone mainboard (108). The drone mainboard (108) controls the first motor (106) to start, so that the first motor (106) rotates at a high speed to drive the blades (104) to rotate, thereby enabling the drone component (1) to perform a flight operation. B. During the flight, the millimeter wave radar (204) can detect the distance of surrounding obstacles, the visual camera (201), the infrared sensor (202), the front visual sensor (203) and the rear visual sensor (207) can detect obstacles around the drone component (1), the visual camera (201) transmits the flight picture to the remote controller main board (34) through the drone main board (108), and the remote controller main board (34) displays the picture through the display (33), so as to facilitate the operator's control; C. When descending, the angle of the visual camera (201) is adjusted through the control component (32). After receiving the signal, the drone mainboard (108) controls the second motor (401) to start. The output shaft of the second motor (401) rotates to drive the worm (402) to rotate. When the worm (402) rotates, it drives the worm wheel (403) to rotate. When the worm wheel (403) rotates, it drives the visual camera (201) to flip downward through the transmission rod (404), so that the visual camera (201) can detect and identify obstacles on the ground, effectively improving the safety of the drone component (1) when descending.

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