Airborne frequency conversion electromagnetic detection device based on multi-modal data fusion

Abstract

The invention relates to the technical field of electromagnetic detection devices, in particular to an airborne variable-frequency electromagnetic detection device based on multi-modal data fusion, which comprises an unmanned aerial vehicle and an integrated box body, the surface of the integrated box body is fixedly connected with a magnetic field sensor fixing device, and the device is divided into the following modules according to functions: a low-frequency transmitting module, a multi-modal data fusion module and a multi-modal data fusion module; a frequency-variable low-frequency electromagnetic signal is transmitted through a low-frequency transmitting device, and whether a target exists or not is judged according to a secondary field generated by an abnormal object; the posture recognition module is used for recognizing the posture change of the unmanned aerial vehicle by using the multi-modal data; the signal compensation module is used for compensating the data of the magnetic field sensor based on the posture recognition result and the environment information; and the signal judgment module is used for carrying out final detection judgment according to the received magnetic field signal in combination with a machine learning technology. According to the method, the problems of attitude influence and difficult target judgment in airborne electromagnetic detection are effectively solved, and more accurate and reliable technical support is provided for detection of underwater abnormal objects.

Description

Technical Field

[0001] The present invention relates to the technical field of electromagnetic detection devices, and particularly to an airborne variable-frequency electromagnetic detection device based on multi-modal data fusion. Background Art

[0002] An electromagnetic detection device is a device used to detect, measure, and analyze electromagnetic fields or electromagnetic signals, and is widely used in scientific research, industrial inspection, military, medical, and other fields. According to different application scenarios and principles, electromagnetic detection devices can be divided into various types. The core principles of electromagnetic detection devices are based on electromagnetic induction, the propagation characteristics of electromagnetic waves, and the interaction between electromagnetic fields and matter. Electromagnetic detection devices play an important role in scientific research, industrial inspection, military security, medical, and communication fields. With the progress of technology, its sensitivity, resolution, and application scope will be further improved.

[0003] Currently, the following problems exist in the active detection technology of underwater anomalies at home and abroad: The traditional sonar detection method is easily affected by ocean environmental noise, and the detection accuracy of mines with irregular shapes, covered by sediments, or made of materials with special acoustic reflection characteristics may be reduced, and the detection speed is relatively slow; Laser detection has fast attenuation in seawater, limited propagation distance, and excessive dependence on the visibility of the target; In electromagnetic detection, the working frequency is single, and it is easily interfered by specific frequencies. When using an unmanned aerial vehicle for detection, the weight of the internal parts and the firmware set inside the machine during each landing, and the internal firmware is easily damaged during landing. As a result, after the detection device is used for a long time or at a high frequency, its internal firmware will be damaged. In view of this, we propose an airborne variable-frequency electromagnetic detection device based on multi-modal data fusion. Summary of the Invention

[0004] The purpose of the present invention is to provide an airborne variable-frequency electromagnetic detection device based on multi-modal data fusion, which solves the problem that the internal firmware and the detection device of the detection device are damaged when the detection device lands after long-term or frequent detection work by an unmanned aerial vehicle.

[0005] To achieve the above purpose, the present invention provides the following technical solutions: An airborne variable-frequency electromagnetic detection device based on multi-modal data fusion, including an unmanned aerial vehicle and an integrated box body. A magnetic field sensor fixing device is fixedly connected to the surface of the integrated box body, a magnetic field sensor is fixedly connected inside the magnetic field sensor fixing device, a power supply is arranged on the surface of the integrated box body, a visual sensor is arranged on the top surface of the unmanned aerial vehicle, and a heat dissipation hole is opened at the rear of the integrated box body; It further includes a control part for ensuring the stability of the detection device during landing and ensuring that the detection device can perform detection for a long time; A detection part for improving the detection performance of the detection device; The control unit includes a lock-in amplifier which is fixedly connected to the inner wall of the integrated box. The interior of the integrated box is divided into upper and lower layers. An interlayer through-hole is provided on the inner side of the integrated box. A motor 1 is fixedly connected to the inner wall of the lock-in amplifier. The output shaft of the motor 1 penetrates the lock-in amplifier. The output shaft of the motor 1 penetrates and is fixedly connected to a small gear. The bottom of the lock-in amplifier penetrates and is fixedly connected to a bottom plate, and a contraction groove is provided on the top surface of the bottom plate.

[0006] Preferably, a large gear penetrates and is rotatably connected to the inner side of the lock-in amplifier. An arc-shaped groove is provided on the surface of the large gear, and the large gear meshes with the small gear.

[0007] Preferably, a slide bar penetrates the inner side of the contraction groove, and the slide bar is slidably connected to the contraction groove.

[0008] Preferably, a hinge block penetrates and is hinged to the left side of the slide bar. A torsion spring is fixedly connected between the hinge block and the inner side of the slide bar. One end of the hinge block away from the slide bar penetrates and is fixedly connected to a support leg.

[0009] Preferably, a buffer rod penetrates and is slidably connected to the inner side of one end of the support leg away from the hinge block. The end of the buffer rod away from the support leg is fixedly connected to a rubber support foot.

[0010] Preferably, a buffer spring is fixedly connected to the surface of the rubber support foot, and one end of the buffer spring away from the rubber support foot is fixedly connected to the inner side of the support leg.

[0011] Preferably, a lever penetrates the top surface of the slide bar, and the top end of the lever penetrates the arc-shaped groove provided on the surface of the large gear.

[0012] Preferably, the detection unit includes a low-frequency transmitting antenna which is arranged inside the lock-in amplifier. The low-frequency transmitting antenna includes a base. A transmitting antenna insulating housing is fixedly connected to the top surface of the base. A motor 2 is fixedly connected to the inner side of the transmitting antenna insulating housing. The output shaft of the motor 2 penetrates and is rotatably connected to a bearing. The output shaft of the motor 2 penetrates and is fixedly connected to a clamping plate.

[0013] Preferably, the number of the clamping plates is two groups, and a magnetic cylinder is fixedly connected between the two groups of clamping plates. A ball bearing is fixedly connected to the surface of the right clamping plate.

[0014] Preferably, an encoder and a NUC host are arranged inside the integrated box. A GPS locator, an inertial sensor, a barometer, a power supply box, a control board, a counterweight block and a data acquisition card are fixedly connected inside the integrated box. A motor driver is fixedly connected inside the integrated box, and the motor driver is electrically connected to the motor 1 and the motor 2 respectively.

[0015] With the above technical solution, the present invention provides an airborne variable-frequency electromagnetic detection device based on multi-modal data fusion, which has at least the following beneficial effects: 1. After the slider slides to a certain position in the present invention, the support leg will be driven by the hinge block to slide to the notch of the contraction groove. Then, the support leg compressed inside the contraction groove will be bounced off by the compressed torsion spring through the hinge block without the resistance of external force, so that the rubber support feet of the drone will contact the ground first when the drone lands. When the drone lands, its own weight will exert downward pressure. Then, the buffer rod will contract into the support leg, and the buffer spring and the rubber support feet will slow down the downward pressure generated by the drone and the integrated box body, protecting the drone and the components inside the integrated box body, and at the same time ensuring that the external magnetic field sensor contacts the ground, reducing the damage of the drone and ensuring that the drone can be used for a long time.

[0016] 2. In the present invention, a magnetic field sensor fixing device is mounted outside the integrated box. In order to ensure that the measured magnetic field intensity does not exceed the range of the magnetic field sensor, it is necessary to set a certain distance or more from the geometric center of the low-frequency transmitting antenna to the magnetic field sensor. The specific value needs to be determined according to the specific model of the magnetic field sensor used and the radiation signal intensity of the low-frequency transmitting antenna. In addition, in order to ensure that the low-frequency electromagnetic waves radiated by the low-frequency transmitting antenna driven by the mechanical structure are not interfered by the top layer and the bottom layer of the integrated box, the housing of the top layer and the bottom layer of the integrated box can be made of insulating materials to improve the reliability and safety of the low-frequency transmitting antenna.

[0017] 3. In the present invention, the low-frequency transmitting antenna driven by the mechanical structure operates according to the variable-frequency mode preset by the control board. By adjusting the motor speed, the frequency of the radiated electromagnetic waves is changed. Using the rotational speed feedback information of the encoder, the speed is adjusted in real time, and variable-frequency electromagnetic waves with a frequency changing periodically with time are radiated outward, improving the accuracy and stability during detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present invention and form a part of this application: Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the upper layer structure of the integrated box body in the present invention; Figure 3 It is a schematic diagram of the lower layer structure of the integrated box body in the present invention; Figure 4 It is a schematic diagram of the sectional structure of the integrated box body in the present invention; Figure 5 It is a schematic diagram of the structure of the low-frequency transmitting antenna in the present invention; Figure 6 It is a schematic diagram of the sectional view of the base in the present invention; Figure 7 This is a schematic cross-sectional view of the support leg structure in the present invention.

[0019] In the figure: 1, unmanned aerial vehicle; 2, control unit; 21, phase-locked amplifier; 22, interlayer via hole; 23, first motor; 24, pinion gear; 25, bottom plate; 26, contraction groove; 27, large gear; 28, arc groove; 29, slide bar; 210, hinge block; 211, support leg; 212, torsion spring; 213, buffer rod; 214, rubber support foot; 215, buffer spring; 216, lever; 3, detection unit; 31, low-frequency transmitting antenna; 311, second motor; 312, bearing; 313, clamping plate; 314, magnetic cylinder; 315, ball bearing; 316, base; 317, insulating housing of transmitting antenna; 318, encoder; 32, NUC host; 33, GPS locator; 34, inertial sensor; 35, barometer; 36, power supply box; 37, control board; 38, counterweight; 39, motor driver; 40, data acquisition card; 4, magnetic field sensor fixing device; 5, magnetic field sensor; 6, power supply; 7, vision sensor; 8, heat dissipation hole; 9, integrated box. Specific embodiments

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0021] An airborne variable-frequency electromagnetic detection device based on multi-modal data fusion, as Figures 1-7As shown in the figure, it includes a drone 1 and an integrated box 9. A magnetic field sensor fixing device 4 is fixedly connected to the surface of the integrated box 9. A magnetic field sensor 5 is fixedly connected inside the magnetic field sensor fixing device 4. A power supply 6 is arranged on the surface of the integrated box 9. A vision sensor 7 is arranged on the top surface of the drone 1. A heat dissipation hole 8 is opened at the rear side of the integrated box 9. It also includes a control unit 2 for ensuring the stability of the detection device during landing and ensuring that the detection device can detect for a long time, and a detection unit 3 for improving the detection performance of the detection device. The control unit 2 includes a lock-in amplifier 21, which is fixedly connected to the inner wall of the integrated box 9. The interior of the integrated box 9 is divided into upper and lower layers. An interlayer through hole 22 is opened on the inner side of the integrated box 9. A motor 1 23 is fixedly connected to the inner wall of the lock-in amplifier 21. The output shaft of the motor 1 23 penetrates through the lock-in amplifier 21. The output shaft of the motor 1 23 penetrates and is fixedly connected to a small gear 24. The bottom of the lock-in amplifier 21 penetrates and is fixedly connected to a bottom plate 25. A contraction groove 26 is opened on the top surface of the bottom plate 25. A large gear 27 is penetrated and rotatably connected to the inner side of the lock-in amplifier 21. An arc groove 28 is opened on the surface of the large gear 27. The large gear 27 meshes with the small gear 24. A slide bar 29 penetrates through the inner side of the contraction groove 26. The slide bar 29 is slidably connected to the contraction groove 26. The left side of the slide bar 29 penetrates and is hinged to a hinge block 210. A torsion spring 212 is fixedly connected between the hinge block 210 and the inner side of the slide bar 29. One end of the hinge block 210 away from the slide bar 29 penetrates and is fixedly connected to a support leg 211. One end of the support leg 211 away from the hinge block 210 penetrates and is slidably connected to a buffer rod 213. When the slide bar 29 slides to a certain position, it will drive the support leg 211 to slide to the notch of the contraction groove 26 through the hinge block 210. Then, the support leg 211 compressed inside the contraction groove 26 will be bounced off by the compressed torsion spring 212 through the hinge block 210 without the resistance of external force, so that the drone 1 first contacts the ground through the rubber support feet 214 during landing. One end of the buffer rod 213 away from the support leg 211 is fixedly connected to the rubber support feet 214. A buffer spring 215 is fixedly connected to the surface of the rubber support feet 214. One end of the buffer spring 215 away from the rubber support feet 214 is fixedly connected to the inner side of the support leg 211. When the drone 1 lands, its own weight will exert downward pressure. Then, the buffer rod 213 will contract into the support leg 211, and the downward pressure generated by the drone 1 and the integrated box 9 will be reduced through the buffer spring 215 and the rubber support feet 214. While protecting the drone 1 and the internal components of the integrated box 9, it can also ensure that the external magnetic field sensor 5 contacts the ground, reduce the damage of the drone 1, and ensure that the drone 1 can be used for a long time.A lever 216 passes through the top surface of the slide bar 29. Starting the motor 23 can drive the small gear 24 to rotate through the output shaft of the motor 23. When the small gear 24 rotates, it will drive the large gear 27 meshing with it to rotate together, and further realize the arc groove 28 opened on the surface of the large gear 27 to move the lever 216, so that when the lever 216 is moved, it will drive the slide bar 29 to slide along the inner side of the contraction groove 26, and the top end of the lever 216 passes through the arc groove 28 opened on the surface of the large gear 27.

[0022] The detection unit 3 includes a low-frequency transmitting antenna 31, which is arranged inside the phase-locked amplifier 21. The low-frequency transmitting antenna 31 includes a base 316, the top surface of the base 316 is fixedly connected with a transmitting antenna insulating shell 317, the inner side of the transmitting antenna insulating shell 317 is fixedly connected with a motor 2 311, the output shaft of the motor 2 311 penetrates and is rotatably connected with a bearing 312, and the output shaft of the motor 2 311 penetrates and is fixedly connected with a clamping plate 313. There are two groups of clamping plates 313, and a magnetic cylinder 314 is fixedly connected between the two groups of clamping plates 313. The magnetic cylinder 314 generally adopts a permanent magnet. The parameters such as the remanence of the permanent magnet are selected according to the application scenario and requirements. When pursuing deep underwater detection, a permanent magnet with a large remanence is selected, and when pursuing high cost performance, a permanent magnet with a small remanence is selected. At the same time, the material selection must also take into account the requirements of high-speed rotation on the tensile strength of the material. The surface of the right clamping plate 313 is fixedly connected with a ball bearing 315. An encoder 318 and a NUC host 32 are provided inside the integrated box 9. The encoder 318 is used to obtain the real-time rotation speed. The frequency of the emitted low-frequency electromagnetic wave is proportional to the motor rotation speed and the number of pole pairs of the magnetic material. The frequency range is determined according to the motor performance and the magnetic material parameters, and is generally set to 20Hz-50Hz. The radiation power does not exceed 40W. The integrated box 9 is fixedly connected to a GPS locator 33, an inertial sensor 34, a barometer 35, a power supply box 36, a control board 37, a counterweight 38 and a data acquisition card 40. The integrated box 9 is fixedly connected to a motor driver 39, and the motor driver 39 is electrically connected to motor 1 23 and motor 2 311 respectively.

[0023] Based on the above embodiment, when in use, when encountering a complex environment that is not suitable for human work during the underwater abnormal object detection task, the operator starts the power supply 6 of the remote control device through the NUC host 32, the detection device is in working mode, and the power supply box 36 of the magnetic field sensor 5, the phase-locked amplifier 21, the NUC host 32, the data acquisition card 40 and other units start working. After the drone 1 is launched, the magnetic field sensor fixing device 4 is lowered and fixed. The drone 1 is controlled by the NUC host 32 to fly along the planned route and traverse the entire target area. The inertial sensor 34 measures real-time acceleration, rotation angle, etc., and the GPS locator 33 obtains real-time positioning information. Combined with the measurement data of the visual sensor 7 and the barometer 35, a multimodal data packet is formed. After being processed by the attitude solution, attitude compensation and pre-trained machine learning model set in the NUC host 32, the position, electromagnetic parameters and other information of the underwater abnormality are obtained. When the drone 1 is landed and recovered, the starting motor 23 can drive the small gear 24 to rotate through the output shaft of the motor 23. When the small gear 24 rotates, it will drive the large gear 27 meshing with it to rotate together, and further realize that the arc groove 28 opened on the surface of the large gear 27 drives the lever 216, so that when the lever 216 is toggled, it will drive the slide bar 29 to slide along the inner side of the contraction groove 26. When the slide bar 2 After sliding to a certain position, the support leg 211 will be driven to slide to the gap of the contraction groove 26 through the hinge block 210. Then, the support leg 211 compressed inside the contraction groove 26 will be bounced open by the compressed torsion spring 212 through the hinge block 210 without external resistance, so that the drone 1 will first contact the ground through the rubber support foot 214 when landing, and when the drone 1 lands, its own weight will apply downward pressure, then the buffer rod 213 will retract into the support leg 211, and the buffer spring 215 and the rubber support foot 214 will reduce the downward pressure generated by the drone 1 and the integrated box 9, while protecting the drone 1 and the internal components of the integrated box 9, it can also ensure that the external magnetic field sensor 5 is in contact with the ground, reduce the damage to the drone 1, and ensure that the drone 1 can be used for a long time.

[0024] A magnetic field sensor fixing device 4 is installed outside the integrated box. In order to ensure that the measured magnetic field strength does not exceed the measuring range of the magnetic field sensor 5, the magnetic field sensor 5 needs to be set at a certain distance from the geometric center of the low-frequency transmitting antenna 31. The specific value needs to be determined according to the specific model of the magnetic field sensor 5 used and the radiation signal strength of the low-frequency transmitting antenna 31. In addition, in order to ensure that the low-frequency electromagnetic waves radiated by the low-frequency transmitting antenna 31 driven by the mechanical structure will not be interfered by the top layer and the bottom layer of the integrated box, the shells of the top layer and the bottom layer of the integrated box can be made of insulating materials to improve the reliability and safety of the low-frequency transmitting antenna 31.

[0025] Furthermore, the low-frequency transmitting antenna 31 driven by a mechanical structure includes three magnetic cylinders 314, which are fixedly connected to the insulating housing 317 of the transmitting antenna through a clamping plate 313 and a ball bearing 315. On the premise of ensuring that the rotating structure will not move along the rotating plane, the encoder 318 is used to obtain the real-time rotation speed. The frequency of the radiated low-frequency electromagnetic wave is proportional to the motor rotation speed and the number of magnetic material pole pairs. The frequency range is determined according to the motor performance and magnetic material parameters, and is generally set to 20 Hz - 50 Hz, and the radiation power does not exceed 40 W. Generally, permanent magnets are used as the magnetic material, and parameters such as the remanence of the permanent magnet are selected according to the application scenario and requirements. When pursuing deep underwater detection, a permanent magnet with a large remanence is selected, and when pursuing high cost performance, a permanent magnet with a small remanence is selected. At the same time, the material selection should also consider the requirements of the tensile strength of the material for high-speed rotation.

[0026] Furthermore, the low-frequency transmitting antenna 31 driven by a mechanical structure operates according to the frequency conversion mode preset by the control board 37. By adjusting the motor rotation speed, the frequency of the radiated electromagnetic wave is changed. Using the rotation speed feedback information of the encoder 318, the rotation speed is adjusted in real time, and a frequency conversion electromagnetic wave with a frequency that changes periodically with time is radiated outward.

[0027] It should be noted that in this article, relational terms such as first and second 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 term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0028] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An airborne variable frequency electromagnetic detection device based on multimodal data fusion, comprising an unmanned aerial vehicle (1) and an integrated box (9), characterized in that: A magnetic field sensor fixing device (4) is fixedly connected to the surface of the integrated box (9), a magnetic field sensor (5) is fixedly connected inside the magnetic field sensor fixing device (4), a power supply (6) is arranged on the surface of the integrated box (9), a visual sensor (7) is arranged on the top surface of the drone (1), and a heat dissipation hole (8) is provided on the rear side of the integrated box (9); It also includes a control unit (2) for ensuring the stability of the detection device when it is landing, and ensuring that the detection device can perform detection for a long time; A detection unit (3), used to improve the detection performance of the detection device; The control unit (2) comprises a lock-in amplifier (21), the lock-in amplifier (21) being fixedly connected to the inner wall of an integrated box (9), the interior of the integrated box (9) being divided into an upper and a lower layer, the inner side of the integrated box (9) being provided with an interlayer via hole (22), the inner wall of the lock-in amplifier (21) being fixedly connected to a motor 1 (23), the output shaft of the motor 1 (23) passing through the lock-in amplifier (21), the output shaft of the motor 1 (23) passing through and fixedly connected to a pinion (24), the bottom of the lock-in amplifier (21) passing through and fixedly connected to a bottom plate (25), the top surface of the bottom plate (25) being provided with a contraction groove (26).

2. The airborne variable frequency electromagnetic detection device based on multi-modal data fusion according to claim 1, characterized in that: A large gear (27) passes through the inner side of the phase-locked amplifier (21) and is rotatably connected thereto. An arc groove (28) is provided on the surface of the large gear (27). The large gear (27) is meshed with a small gear (24).

3. The airborne variable frequency electromagnetic detection device based on multi-modal data fusion according to claim 2, characterized in that: A slide bar (29) passes through the inner side of the shrinkage groove (26), and the slide bar (29) is slidably connected to the shrinkage groove (26).

4. The airborne variable frequency electromagnetic detection device based on multi-modal data fusion according to claim 3 is characterized in that: A hinge block (210) passes through and is hingedly connected to the left side of the slide bar (29); a torsion spring (212) is fixedly connected between the hinge block (210) and the inner side of the slide bar (29); and a support leg (211) passes through and is fixedly connected to one end of the hinge block (210) away from the slide bar (29).

5. The airborne variable frequency electromagnetic detection device based on multi-modal data fusion according to claim 4, characterized in that: A buffer rod (213) penetrates and is slidably connected to the inner side of one end of the support leg (211) away from the hinge block (210), and a rubber support foot (214) is fixedly connected to one end of the buffer rod (213) away from the support leg (211).

6. The airborne variable frequency electromagnetic detection device based on multi-modal data fusion according to claim 5, characterized in that: A buffer spring (215) is fixedly connected to the surface of the rubber support foot (214), and one end of the buffer spring (215) away from the rubber support foot (214) is fixedly connected to the inner side of the support leg (211).

7. The airborne variable frequency electromagnetic detection device based on multi-modal data fusion according to claim 6, characterized in that: A lever (216) penetrates the top surface of the slide bar (29), and the top end of the lever (216) penetrates an arc groove (28) provided on the surface of the large gear (27).

8. The airborne variable frequency electromagnetic detection device based on multi-modal data fusion according to claim 1, characterized in that: The detection unit (3) comprises a low-frequency transmitting antenna (31), the low-frequency transmitting antenna (31) being arranged inside the phase-locked amplifier (21), the low-frequency transmitting antenna (31) comprising a base (316), the top surface of the base (316) being fixedly connected to a transmitting antenna insulating shell (317), the inner side of the transmitting antenna insulating shell (317) being fixedly connected to a second motor (311), the output shaft of the second motor (311) passing through and rotatably connected to a bearing (312), and the output shaft of the second motor (311) passing through and fixedly connected to a clamping plate (313).

9. The airborne variable frequency electromagnetic detection device based on multi-modal data fusion according to claim 8, characterized in that: The number of the clamping plates (313) is two groups, and a magnetic cylinder (314) is fixedly connected between the two groups of clamping plates (313), and a ball bearing (315) is fixedly connected to the surface of the right clamping plate (313).

10. The airborne variable frequency electromagnetic detection device based on multi-modal data fusion according to claim 9, characterized in that: An encoder (318) and a NUC host (32) are arranged inside the integrated box (9); a GPS locator (33), an inertial sensor (34), a barometer (35), a power supply box (36), a control panel (37), a counterweight (38) and a data acquisition card (40) are fixedly connected inside the integrated box (9); a motor driver (39) is fixedly connected inside the integrated box (9); and the motor driver (39) is electrically connected to the first motor (23) and the second motor (311), respectively.

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