Retractable search and rescue unmanned aerial vehicle in small space and control system thereof

Abstract

The invention discloses a retractable search and rescue unmanned aerial vehicle in a small space and a control system thereof, the retractable search and rescue unmanned aerial vehicle comprises an unmanned aerial vehicle main body, a microprocessor and a microcontroller, and a visible light high-definition camera and an infrared thermal imaging camera are fixedly mounted on the left side of the unmanned aerial vehicle main body in sequence from front to back. Through the arrangement of an infrared thermal imaging camera and a visible light high-definition camera, background personnel can conveniently search and rescue personnel in related areas in the flying process of the unmanned aerial vehicle main body, and through the arrangement of a laser radar, obstacles and space around the unmanned aerial vehicle main body can be detected, so that the unmanned aerial vehicle main body can be conveniently carried out. Therefore, background personnel can judge and know the search and rescue environment conveniently, the personnel can remotely control the main wings and the auxiliary wings around the unmanned aerial vehicle main body to conduct corresponding contraction and folding operation when searching and rescuing are conducted in a small space, the span between takeoff paddles around the unmanned aerial vehicle main body is effectively reduced, and the search and rescue efficiency of the unmanned aerial vehicle main body is improved. Therefore, the unmanned aerial vehicle main body can carry out search and rescue operation in a small space.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and particularly to a retractable search and rescue unmanned aerial vehicle and its control system in a small space. Background Art

[0002] In various natural disasters and emergency rescue scenarios, such as the ruins after an earthquake, the interior of buildings at a fire scene, etc., quickly and accurately searching for survivors and obtaining key information is crucial for the success of rescue operations. Unmanned aerial vehicles play an increasingly important role in rescue operations with their aerial perspective and flexible mobility. However, traditional unmanned aerial vehicles usually have a fixed and relatively large size, and their wing or fuselage structures are easily blocked when entering small spaces such as narrow ruins passages and interior corridors of buildings, making it impossible to fly smoothly to the target area, seriously affecting the efficiency of search and rescue operations. Summary of the Invention

[0003] The purpose of the present invention is to provide a retractable search and rescue unmanned aerial vehicle and its control system in a small space, which has the advantages of being able to conveniently retract and fold the wings of the unmanned aerial vehicle according to the actual search and rescue operation environment, and improving the passing and search and rescue effects of the unmanned aerial vehicle in a small space.

[0004] To achieve the above object, the present invention provides the following technical solutions: A retractable search and rescue UAV in a small space, comprising a UAV main body, a microprocessor and a microcontroller. On the left side of the UAV main body, a visible light high-definition camera and an infrared thermal imaging camera are fixedly installed in sequence from front to back. On the top of the UAV main body, a lidar and a wireless signal transceiver are fixedly installed in sequence from left to right. On the bottom of the UAV main body, a fixing plate is fixedly installed. On the top of the fixing plate, a micro motor is fixedly installed. At the output end of the micro motor, a first bevel gear is fixedly installed. In the middle of the fixing plate, a screw sleeve is movably connected through a bearing. At the upper end of the screw sleeve, a second bevel gear is fixedly installed. The second bevel gear meshes with the first bevel gear. In the inner cavity of the screw sleeve, an adjusting screw rod is threadedly connected. At the bottom of the adjusting screw rod, a lifting frame is fixedly installed. At the four corners of the top of the lifting frame, adjusting push rods are fixedly connected. At the upper ends on both sides of each adjusting push rod, guide blocks are fixedly connected. On the four sides of the UAV main body, fixing frames are fixedly installed. At the top of the inner cavity of each fixing frame, a fixed shaft is fixedly connected. In the middle of the fixed shaft, a main wing is movably connected through a bearing. At the bottom of the fixed shaft, a first synchronous pulley is fixedly installed. At the bottom of the main wing, a fixed cylinder is fixedly connected. On both sides of the inner cavity of the fixed cylinder, guide grooves are opened. The surface of the guide block is movably connected to the surface of the guide groove. Between the bottom of the first synchronous pulley and the top of the fixed cylinder, a rotational position sensor is fixedly installed. On the top of the outer surface of the main wing, a secondary wing is movably connected through a bearing. On the top of the secondary wing, a takeoff propeller is fixedly installed. At the top of the inner cavity of the secondary wing, a rotating shaft is fixedly connected. At the bottom of the rotating shaft, a second synchronous pulley is fixedly installed. Between the middle of the second synchronous pulley and the middle of the first synchronous pulley, a synchronous belt is drivingly connected.

[0005] As a preferred solution, a protective case is fixedly installed on the right side of the UAV main body. On the left side of the protective case inner cavity, the left side of the microprocessor is fixedly installed. On the bottom of the protective case inner cavity, the bottom of the microcontroller is fixedly installed.

[0006] As a preferred solution, heat dissipation holes are opened on the right side of the protective case, and a dust-proof net is fixedly installed on the surface of the heat dissipation holes.

[0007] As a preferred solution, reinforcing rods are fixedly connected to the four sides of the lifting frame, and the reinforcing rods are inclined.

[0008] As a preferred solution, the shape of the guide groove is arc-shaped, and the shape of the guide block is hemispherical.

[0009] As a preferred solution, a support shaft is fixedly installed at the bottom of the second synchronous pulley, and the bottom of the support shaft is movably connected through a bearing to the bottom of the inner cavity of the main wing.

[0010] As a preferred solution, a receiving hole is provided at the bottom of the fixed frame, and the surface of the adjusting push rod is movably connected to the surface of the receiving hole.

[0011] As a preferred solution, the transmission ratio of the first bevel gear to the second bevel gear is: and the first synchronous pulley and the second synchronous pulley have the same specifications.

[0012] As a preferred solution, a landing gear is fixedly connected to the bottom of the outer surface of the main wing, and a protective cover is fixedly installed on the outer surface of the auxiliary wing.

[0013] A control system for a retractable search and rescue UAV in a small space, comprising: The output ends of the infrared thermal imaging camera and the visible light high-definition camera are respectively electrically connected to the input end of the wireless signal transceiver. The wireless signal transceiver is bidirectionally electrically connected to the microprocessor. The output ends of the lidar and the rotation position sensor are respectively electrically connected to the input end of the microprocessor. The output end of the microprocessor is electrically connected to the input end of the microcontroller, and the output end of the microcontroller is electrically connected to the input end of the micro motor; The wireless signal transceiver is used to transmit the video signals of the infrared thermal imaging camera and the visible light high-definition camera, as well as the data obtained by the microprocessor to the flight crew in the background. The microprocessor is used to process and analyze the environmental data detected by the lidar and the data detected by the rotation position sensor of the main wing, and can send control instructions to the microcontroller to enable the microcontroller to perform corresponding control on the micro motor.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: Through the settings of the infrared thermal imaging camera and the visible light high-definition camera, the present invention facilitates the search and rescue operation of relevant areas by the background personnel during the flight of the UAV main body. Through the setting of the lidar, the obstacles and space around the UAV main body can be detected, so as to facilitate the background personnel to judge and understand the environment of the search and rescue operation. When searching and rescuing in a small space, the personnel can remotely control the corresponding contraction and folding operation between the main wings and the auxiliary wings around the UAV main body, effectively reducing the span between the take-off propellers around the UAV main body, so as to facilitate the search and rescue operation of the UAV main body in a small space. And since the contraction and folding operations of the four groups of main wings and auxiliary wings are carried out synchronously, it effectively avoids the asynchronous adjustment of the positions of the take-off propellers during the contraction and folding process, which affects the flight stability of the UAV main body, thus bringing great convenience to the flight control of the background personnel. Description of the Drawings

[0015] Figure 1 It is a three-dimensional view of the present invention; Figure 2 Schematic diagram of the upward view structure of the present invention; Figure 3 Schematic diagram of the front sectional structure of the present invention; Figure 4 Schematic diagram of the partial front sectional structure of the fixing plate of the present invention; Figure 5 Schematic diagram of the partial side sectional structure of the main wing of the present invention; Figure 6 Schematic diagram of the structure after the main wing and the auxiliary wing of the present invention are retracted and folded; Figure 7 Schematic diagram of the system principle of the present invention.

[0016] In the figure: 1, UAV main body; 2, infrared thermal imaging camera; 3, visible light high-definition camera; 4, lidar; 5, wireless signal transceiver; 6, fixing frame; 7, main wing; 8, protective cover; 9, landing gear; 10, auxiliary wing; 11, take-off propeller; 12, lifting frame; 13, fixing plate; 14, adjusting push rod; 15, adjusting screw; 16, protective shell; 17, microprocessor; 18, microcontroller; 19, micro motor; 20, first bevel gear; 21, screw sleeve; 22, second bevel gear; 23, guide block; 24, fixing cylinder; 25, guide groove; 26, rotation position sensor; 27, synchronous belt; 28, first synchronous pulley; 29, fixing shaft; 30, rotating shaft; 31, support shaft; 32, second synchronous pulley; 33, accommodation hole; 34, strengthening rod. Specific embodiments

[0017] 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. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0018] Secondly, the so-called "one embodiment" or "embodiment" herein refers to a specific feature, structure or characteristic that can be included in at least one implementation manner of the present invention. The "in one embodiment" that appears in different places in this specification does not all refer to the same embodiment, nor is it a separate or alternative embodiment that excludes other embodiments.

[0019] The drone body 1, infrared thermal imaging camera 2, visible light high-definition camera 3, laser radar 4, wireless signal transceiver 5, fixed frame 6, main wing 7, protective cover 8, landing gear 9, auxiliary wing 10, take-off blade 11, lifting frame 12, fixed plate 13, adjustment push rod 14, adjustment screw 15, protective shell 16, microprocessor 17, microcontroller 18, micro motor 19, first bevel gear 20, screw sleeve 21, second bevel gear 22, guide block 23, fixed cylinder 24, guide groove 25, rotation position sensor 26, synchronous belt 27, first synchronous wheel 28, fixed shaft 29, rotating shaft 30, supporting shaft 31, second synchronous wheel 32, accommodating hole 33 and reinforcing rod 34 of the present application 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.

[0020] For example, see Figures 1 - 7 As shown, the present invention provides a retractable search and rescue drone in a small space, comprising a drone body 1, a microprocessor 17 and a microcontroller 18. A visible light high-definition camera 3 and an infrared thermal imaging camera 2 are fixedly installed on the left side of the drone body 1 from front to back in sequence, a laser radar 4 and a wireless signal transceiver 5 are fixedly installed on the top of the drone body 1 from left to right in sequence, a fixing plate 13 is fixedly installed on the bottom of the drone body 1, a micro motor 19 is fixedly installed on the top of the fixing plate 13, a first bevel gear 20 is fixedly installed on the output end of the micro motor 19, a screw sleeve 21 is movably connected to the middle end of the fixing plate 13 through a bearing, a second bevel gear 22 is fixedly installed on the upper end of the screw sleeve 21, the second bevel gear 22 is meshed with the first bevel gear 20, an inner cavity of the screw sleeve 21 is threadedly connected to an adjusting screw 15, a lifting frame 12 is fixedly installed on the bottom of the adjusting screw 15, and an adjusting push rod 14 is fixedly connected to the top of the lifting frame 12 on all sides. The upper ends of both sides of the rod 14 are fixedly connected with guide blocks 23, and the fixed frames 6 are fixedly installed around the drone body 1. The top of the inner cavity of the fixed frame 6 is fixedly connected with a fixed shaft 29, and the middle end of the fixed shaft 29 is movably connected with the main wing 7 through a bearing. The bottom of the fixed shaft 29 is fixedly installed with a first synchronous wheel 28, and the bottom of the main wing 7 is fixedly connected with a fixed cylinder 24. Guide grooves 25 are provided on both sides of the inner cavity of the fixed cylinder 24. The surface of the guide block 23 is movably connected to the surface of the guide groove 25. A rotation position sensor 26 is fixedly installed between the bottom of the first synchronous wheel 28 and the top of the fixed cylinder 24. The top of the outer surface of the main wing 7 is movably connected with the auxiliary wing 10 through a bearing, and the top of the auxiliary wing 10 is fixedly installed with a take-off blade 11. The top of the inner cavity of the auxiliary wing 10 is fixedly connected with a rotating shaft 30, and the bottom of the rotating shaft 30 is fixedly installed with a second synchronous wheel 32. A synchronous belt 27 is transmission-connected between the middle end of the second synchronous wheel 32 and the middle end of the first synchronous wheel 28.

[0021] In this technical solution, through the settings of the infrared thermal imaging camera 2 and the visible light high-definition camera 3, it is convenient for the backstage personnel to conduct search and rescue operations for personnel in relevant areas during the flight of the UAV body 1. And through the setting of the lidar 4, it is possible to detect obstacles and space around the UAV body 1, so that while the backstage personnel can judge and understand the environment of the search and rescue operation, when searching and rescuing in a small space, the personnel can remotely control the corresponding contraction and folding operation between the main wings 7 and the auxiliary wings 10 around the UAV body 1, effectively reducing the span between the take-off propellers 11 around the UAV body 1, so as to facilitate the search and rescue operation of the UAV body 1 in a small space. And since the contraction and folding operations of the four groups of main wings 7 and auxiliary wings 10 are carried out synchronously, it effectively avoids the asynchronous adjustment of the positions of the take-off propellers 11 during the contraction and folding process, which affects the flight stability of the UAV body 1, thus bringing great convenience to the flight control of the backstage personnel.

[0022] Embodiment 2, on the basis of Embodiment 1, as shown in the present invention Figures 1 - 6 shown, a protective shell 16 is fixedly installed on the right side of the UAV body 1. The left side of the microprocessor 17 is fixedly installed on the left side of the inner cavity of the protective shell 16. The bottom of the microcontroller 18 is fixedly installed on the bottom of the inner cavity of the protective shell 16. A heat dissipation hole is opened on the right side of the protective shell 16, and a dust-proof net is fixedly installed on the surface of the heat dissipation hole. Reinforcing rods 34 are fixedly connected to the four sides of the lifting frame 12. The reinforcing rods 34 are inclined. The shape of the guide groove 25 is arc-shaped. The shape of the guide block 23 is hemispherical. A support shaft 31 is fixedly installed at the bottom of the second synchronous pulley 32. The bottom of the support shaft 31 is movably connected to the bottom of the inner cavity of the main wing 7 through a bearing. A receiving hole 33 is opened at the bottom of the fixed frame 6. The surface of the adjusting push rod 14 is movably connected to the surface of the receiving hole 33. The transmission ratio of the first bevel gear 20 to the second bevel gear 22 is 3:1. The specifications of the first synchronous pulley 28 and the second synchronous pulley 32 are the same. A landing gear 9 is fixedly connected to the bottom of the outer surface of the main wing 7. A protective cover 8 is fixedly installed on the outer surface of the auxiliary wing 10.

[0023] In this technical solution, through the setting of the protective shell 16, the purpose of storing and protecting the microprocessor 17 and the microcontroller 18 is achieved. Through the setting of the heat dissipation hole, it is beneficial to dissipate the heat inside the protective shell 16 to the outside. Through the setting of the reinforcing rods 34, the purpose of strengthening the four sides of the lifting frame 12 is achieved. Through the setting of the support shaft 31, the purpose of supporting the bottom of the second synchronous pulley 32 is achieved, avoiding the inclination of the second synchronous pulley 32 due to force. Through the setting of the receiving hole 33, the adjusting push rod 14 can be received and guided at the bottom of the fixed frame 6. Through the setting of the protective cover 8, the effect of anti-collision protection around the take-off propeller 11 is achieved.

[0024] Embodiment 3. A control system for a retractable search and rescue UAV in a small space, comprising: The output ends of the infrared thermal imaging camera 2 and the visible light high-definition camera 3 are respectively electrically connected to the input end of the wireless signal transceiver 5. The wireless signal transceiver 5 is bidirectionally electrically connected to the microprocessor 17. The output ends of the lidar 4 and the rotation position sensor 26 are respectively electrically connected to the input end of the microprocessor 17. The output end of the microprocessor 17 is electrically connected to the input end of the microcontroller 18. The output end of the microcontroller 18 is electrically connected to the input end of the micro motor 19; The wireless signal transceiver 5 is configured to transmit the video signals of the infrared thermal imaging camera 2 and the visible light high-definition camera 3, as well as the data obtained by the microprocessor 17, to the flight crew in the background; The microprocessor 17 is configured to process and analyze the environmental data detected by the lidar 4 and the data detected by the rotation position sensor 26, and be able to send control instructions to the microcontroller 18, so that the microcontroller 18 performs corresponding control on the micro motor 19.

[0025] The working principle of the present invention is as follows: When the backstage personnel conduct search and rescue operations by flying the UAV main body 1, under the action of the infrared thermal imaging camera 2 and the visible light high-definition camera 3, high-definition video signals and infrared thermal imaging video signals of the search and rescue site can be recorded and transmitted to the backstage personnel through the wireless signal transceiver 5, so as to facilitate the backstage personnel to judge whether there are people or signs of life at the search and rescue site. At the same time, under the action of the lidar 4, the obstacles and space around the UAV main body 1 can be detected. While the microprocessor 17 processes and analyzes the detected data, the processed data can be transmitted to the backstage personnel through the wireless signal transceiver 5, so as to facilitate the backstage personnel to judge the obstacles and space around the UAV. And when the backstage flight personnel need to control the UAV to detect a small space, the wireless signal transceiver 5 can receive the instructions transmitted by the backstage personnel. While the microprocessor 17 processes and analyzes the instructions, the microprocessor 17 can send control instructions to the microcontroller 18, causing the microcontroller 18 to correspondingly control the micro motor 19 to work. The work of the micro motor 19 can drive the first bevel gear 20, the second bevel gear 22 and the screw sleeve 21 to rotate. The rotation of the screw sleeve 21 drives the adjusting screw 15, the lifting frame 12, the adjusting push rod 14 and the guide block 23 to move upward. While the guide block 23 moves, it can push the fixed cylinder 24 and the main wing 7 to rotate along the bearing on the fixed shaft 29 through the guide groove 25. And under the action of the rotation position sensor 26, the rotation angles of the fixed cylinder 24 and the main wing 7 can be effectively monitored and transmitted to the microprocessor 17 for processing and analysis. At the same time, when the main wing 7 is at the maximum folding angle of 90 degrees, the microprocessor 17 can send control instructions to the microcontroller 18, causing the microcontroller 18 to correspondingly control the micro motor 19 to stop working. And during the rotation of the main wing 7, the auxiliary wing 10 and the take-off propeller 11 can be driven to rotate at the same time. While the auxiliary wing 10 rotates, it can drive the rotating shaft 30 and the second synchronous pulley 32 to rotate. Since the first synchronous pulley 28 is fixed, when the second synchronous pulley 32 rotates, it can drive the auxiliary wing 10 to rotate along the bearing on the main wing 7 under the traction of the synchronous belt 27. Thus, the main wing 7 and the auxiliary wing 10 can be respectively folded and contracted to both sides of the UAV main body 1 under the action of rotation, so as to adjust the span between the take-off propellers 11 around, facilitating the backstage personnel to use the UAV main body 1 to conduct search and rescue operations in a small space.

[0026] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting the protection scope of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the essence and scope of the technical solutions of the present invention.

Claims

1. A retractable search and rescue UAV in a small space, comprising a UAV main body (1), a microprocessor (17) and a microcontroller (18), characterized in that: A visible light high-definition camera (3) and an infrared thermal imaging camera (2) are fixedly mounted on the left side of the drone body (1) from front to back in sequence, a laser radar (4) and a wireless signal transceiver (5) are fixedly mounted on the top of the drone body (1) from left to right in sequence, a fixing plate (13) is fixedly mounted on the bottom of the drone body (1), a micro motor (19) is fixedly mounted on the top of the fixing plate (13), a first bevel gear (20) is fixedly mounted on the output end of the micro motor (19), and a central portion of the fixing plate (13) is fixedly mounted with a first bevel gear (20). The end of the screw sleeve (21) is movably connected to the screw sleeve (21) through a bearing, the upper end of the screw sleeve (21) is fixedly mounted with a second bevel gear (22), the second bevel gear (22) is meshed with the first bevel gear (20), the inner cavity of the screw sleeve (21) is threadedly connected with an adjusting screw (15), the bottom of the adjusting screw (15) is fixedly mounted with a lifting frame (12), the top of the lifting frame (12) is fixedly connected with an adjusting push rod (14) on all sides, the upper ends of both sides of the adjusting push rod (14) are fixedly connected with guide blocks (23), and the drone body A fixed frame (6) is fixedly installed around the four sides of the fixed frame (6), a fixed shaft (29) is fixedly connected to the top of the inner cavity of the fixed frame (6), the middle end of the fixed shaft (29) is movably connected to the main wing (7) through a bearing, a first synchronous wheel (28) is fixedly installed at the bottom of the fixed shaft (29), a fixed cylinder (24) is fixedly connected to the bottom of the main wing (7), guide grooves (25) are provided on both sides of the inner cavity of the fixed cylinder (24), the surface of the guide block (23) is movably connected to the surface of the guide groove (25), and the first synchronous wheel (28) is fixedly installed at the bottom of the fixed shaft (29). ) and the top of the fixed cylinder (24), a rotation position sensor (26) is fixedly installed, the top of the outer surface of the main wing (7) is movably connected to the auxiliary wing (10) through a bearing, the top of the auxiliary wing (10) is fixedly installed with a take-off blade (11), the top of the inner cavity of the auxiliary wing (10) is fixedly connected to a rotating shaft (30), the bottom of the rotating shaft (30) is fixedly installed with a second synchronous wheel (32), and a synchronous belt (27) is transmission-connected between the middle end of the second synchronous wheel (32) and the middle end of the first synchronous wheel (28).

2. The retractable search and rescue UAV in a small space according to claim 1, wherein: A protective shell (16) is fixedly mounted on the right side of the drone body (1), the left side of the microprocessor (17) is fixedly mounted on the left side of the inner cavity of the protective shell (16), and the bottom of the microcontroller (18) is fixedly mounted on the bottom of the inner cavity of the protective shell (16).

3. The retractable search and rescue UAV in a small space according to claim 2, characterized in that: A heat dissipation hole is provided on the right side of the protective shell (16), and a dustproof net is fixedly installed on the surface of the heat dissipation hole.

4. The retractable search and rescue UAV in a small space according to claim 1, wherein: The lifting frame (12) is fixedly connected to reinforcing rods (34) on all four sides, and the reinforcing rods (34) are arranged in an inclined manner.

5. A retractable search and rescue UAV in a small space according to claim 1, wherein: The guide groove (25) is in an arc shape, and the guide block (23) is in a hemispherical shape.

6. The retractable search and rescue UAV in a small space according to claim 1, wherein: A support shaft (31) is fixedly mounted on the bottom of the second synchronous wheel (32), and the bottom of the support shaft (31) is movably connected to the bottom of the inner cavity of the main wing (7) via a bearing.

7. The retractable search and rescue UAV in a small space according to claim 1, wherein: The bottom of the fixed frame (6) is provided with a receiving hole (33), and the surface of the adjusting push rod (14) is movably connected to the surface of the receiving hole (33).

8. The retractable search and rescue UAV in a small space according to claim 1, wherein: The transmission ratio of the first bevel gear (20) to the second bevel gear (22) is 3:1, and the first synchronous pulley (28) and the second synchronous pulley (32) have the same specifications.

9. The collapsible search and rescue UAV in a small space according to claim 1, wherein: The bottom of the outer surface of the main wing (7) is fixedly connected with a landing gear (9), and a protective cover (8) is fixedly installed on the outer surface of the auxiliary wing (10).

10. A control system for a collapsible search and rescue UAV in a small space, applicable to a collapsible search and rescue UAV in a small space as described in claims 1 to 9, characterized in that, Comprising: The output ends of the infrared thermal imaging camera (2) and the visible light high-definition camera (3) are respectively electrically connected to the input end of the wireless signal transceiver (5), the wireless signal transceiver (5) is bidirectionally electrically connected to the microprocessor (17), the output ends of the lidar (4) and the rotation position sensor (26) are respectively electrically connected to the input end of the microprocessor (17), the output end of the microprocessor (17) is electrically connected to the input end of the microcontroller (18), and the output end of the microcontroller (18) is electrically connected to the input end of the micro motor (19); The wireless signal transceiver (5) is used to transmit the video signals of the infrared thermal imaging camera (2) and the visible light high-definition camera (3), as well as the data obtained by the microprocessor (17) to the flight crew in the background; The microprocessor (17) is used to process and analyze the environmental data detected by the lidar (4) and the data detected by the rotation position sensor (26), and can send control instructions to the microcontroller (18) to enable the microcontroller (18) to perform corresponding control on the micro motor (19).

Images