Flight displacement measurement robot device for high-precision measurement of bridge pier
By carrying a measurement rod and combining a plane position and multi-angle adjustment mechanism, the problems of high-altitude operation hazards and low accuracy in traditional bridge pier measurement methods are solved, and the drone measurement of high-precision measurement of bridge pier is realized, meeting the high-precision and high-efficiency needs of modern bridge projects.
Patent Information
- Application Number
- CN202510457020.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-13
- Publication Date
- 2025-08-19
AI Technical Summary
Traditional bridge pier measurement methods have problems such as high-altitude operation hazards, difficult to ensure measurement accuracy and low efficiency, especially in complex environments, it is difficult to achieve high-precision measurement.
The drone is equipped with a measuring rod, combined with a plane position adjustment mechanism and a multi-angle adjustment mechanism, so that the drone can land in the center of the top surface of the bridge pier, and the position of the measuring rod is fine-tuned through the plane position adjustment mechanism. The multi-angle adjustment mechanism keeps the measuring rod plumb, and high-precision measurement is performed using a total station and a visual camera.
It realizes high-precision measurement without climbing the top of the bridge pier, meets the higher requirements of modern bridge engineering for measurement accuracy and efficiency, and reduces the risks of high-altitude operations.
Smart Images
Figure CN120508111A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of measurement, positioning and identification of construction engineering structures, and in particular to a flying displacement measurement robot device for high-precision measurement of bridge piers. Background Art
[0002] During the construction and maintenance of bridge projects, accurate measurement of bridge piers is a core task to ensure structural safety and construction quality. Traditional bridge pier measurement methods rely primarily on manual labor. Specifically, workers must climb to the top of the pier or use climbing equipment such as hanging baskets and scaffolding to perform contact measurements, using tools such as measuring rods and total stations to collect data point by point.
[0003] However, this traditional measurement method has many shortcomings: First, the high-altitude working environment is complex and dangerous. Workers need to operate on the narrow tops of bridge piers, facing safety risks such as falling from heights and equipment instability. This is especially true in inclement weather or complex terrain. Second, the tops of bridge piers often have complex environments such as uneven ground, obstacles, or water. Traditional measurement equipment has difficulty maintaining a stable center point position and plumbness, making it difficult to ensure the plumbness and positioning accuracy of the measuring rod. In addition, manual operation is easily affected by subjective factors, making it difficult to achieve high-precision measurements and unable to meet the higher measurement accuracy and efficiency requirements of modern bridge engineering. Summary of the Invention
[0004] This application provides a flying displacement measurement robot device for high-precision measurement of bridge piers, which solves the technical problems in the prior art that the high-altitude working environment during bridge pier measurement is complex and dangerous, and traditional measurement equipment is difficult to stably maintain the center point position and plumb line. It realizes high-precision measurement without climbing to the top of the bridge pier, meeting the higher requirements of modern bridge engineering for measurement accuracy and efficiency.
[0005] The present application provides a flying displacement measurement robot device for high-precision measurement of bridge piers, comprising a drone equipped with a measuring rod, the drone being controlled by a flight control system to fly to the top surface of a target bridge pier, and the visual camera on the drone obtaining the center position of the top surface of the bridge pier and landing; a total station for measuring distance and positioning by transmitting signals to a prism at the top of the measuring rod; a handheld terminal for issuing mission instructions to the drone; wherein the drone is further provided with a plane position adjustment mechanism, a support frame, a fisheye support member, and a multi-angle adjustment mechanism; the plane position adjustment mechanism is installed on the drone, and the measuring rod is placed vertically in the middle position of the plane position adjustment mechanism, A prism is installed on the top of the measuring rod, and a gyroscope and a laser rangefinder are installed on the bottom. The laser rangefinder is used to emit laser signals and illuminate the top surface of the pier; the support frame is installed on the plane position adjustment mechanism and is used to support the measuring rod; the fisheye support is installed in the support frame, and the measuring rod is installed in the support frame through the fisheye support; the multi-angle adjustment mechanism is installed on the plane position adjustment mechanism and is used to adjust the angle of the measuring rod. The multi-angle adjustment mechanism adjusts the plumbness of the measuring rod according to the plumbness data feedback from the gyroscope, wherein the plane position adjustment mechanism drives the support frame and the multi-angle adjustment mechanism to move synchronously, which is used to adjust the measuring rod to the center point of the pier.
[0006] Furthermore, the plane position adjustment mechanism includes: a square frame base, fixedly mounted on the landing gear of the drone; an X-axis movable frame, slidably connected to the top surface of the square frame base; an X-axis high-precision linear guide rail, mounted on one side of the square frame base and used to drive the X-axis movable frame to move; a driving motor 1, mounted on the end of the X-axis high-precision linear guide rail, used to drive the X-axis high-precision linear guide rail to operate; a Y-axis movable frame, slidably connected to the top surface of the X-axis movable frame; a Y-axis high-precision linear guide rail A guide rail is installed on one side of the X-direction movable frame plate and is used to drive the Y-direction movable frame plate to move; a second drive motor is installed at the end of the Y-direction high-precision linear guide rail and is used to drive the Y-direction high-precision linear guide rail to operate; wherein, the support frame and the multi-angle adjustment mechanism are both installed on the Y-direction movable frame plate, and the laser rangefinder irradiates through the Y-direction movable frame plate, the X-direction movable frame plate, and the square frame plate base; the central machine platform of the drone is a square frame shape, and the measuring rod passes through the central machine platform.
[0007] Furthermore, the support frame includes: a short tube, placed vertically and used to install the fisheye support, and the bottom of the measuring rod passes through the short tube; a right-angle frame, one of the right-angle sides of which is fixed on the outer surface of the short tube, and multiple right-angle frames are fixed along the periphery of the short tube, and the right-angle frames are fixed on the Y-axis movable frame plate.
[0008] Furthermore, the support frame also includes an arc plate, the arc top of the arc plate is fixedly connected to the end of the right-angle frame away from the short tube, and both ends of the arc plate are fixed on the Y-axis movable frame plate, and the arc plate is fixed on each of the right-angle frames.
[0009] Furthermore, the fisheye support includes: a ball socket, fixed in the short tube; a ball head, placed in the ball socket, the ball head rotates freely in the ball socket, and the interior of the ball head is hollow cylindrical; a sleeve, fixed in the ball head, and the measuring rod is inserted tightly into the sleeve.
[0010] Furthermore, the multi-angle adjustment mechanism includes: a hinge ring fixed on the measuring rod, four hinge points are provided on the hinge ring and are equidistantly arranged on the periphery of the measuring rod; two electric push rods are provided and are respectively located at two adjacent hinge points on the hinge ring, and the ends of the telescopic rods of the electric push rods are hinged at the hinge points of the hinge ring; two hydraulic support rods are provided and are respectively located at the other two adjacent hinge points on the hinge ring, and the ends of the telescopic rods of the hydraulic support rods are hinged at the hinge points of the hinge ring; a universal ball seat is fixed on the plane position adjustment mechanism, and the bottom ends of each of the electric push rods and each of the hydraulic support rods are fixed to the universal ball seat.
[0011] Furthermore, a support plate is fixed between the landing gears on both sides of the UAV, and the plane position adjustment mechanism is fixedly mounted on the support plate.
[0012] One or more technical solutions provided in this application have at least the following technical effects or advantages:
[0013] Due to the use of a plane position adjustment mechanism and a multi-angle adjustment mechanism, during the measurement process, after the drone lands at the center of the top surface of the pier, the environmental factors cause a deviation between the measuring rod and the center point of the top surface of the pier. The plane position adjustment mechanism is used to fine-tune the position of the measuring rod. After that, the gyroscope monitors the plumbness of the measuring rod in real time, and the multi-angle adjustment mechanism measures the plumbness of the measuring rod, so that the measuring rod always remains in a plumb state, realizing high-precision measurement without climbing to the top of the pier, meeting the higher requirements of modern bridge engineering for measurement accuracy and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 Schematic diagram of the three major components of the flying displacement measurement robot device for high-precision measurement of bridge piers in an embodiment of the present application;
[0015] Figure 2 This is a schematic diagram of the overall structure of the drone in the embodiment of this application;
[0016] Figure 3 for Figure 2 The schematic diagram of the middle part mainly shows the structure of the measuring rod supported by the plane position adjustment mechanism, support frame, fisheye support member, and multi-angle adjustment mechanism;
[0017] Figure 4 For the main indication Figure 3 Structural diagram of the mid-plane position adjustment mechanism;
[0018] Figure 5 for Figure 4 Structural diagram of the mid-plane position adjustment mechanism in another state
[0019] Figure 6 for Figure 2 The schematic diagram of the middle part mainly illustrates the structure of the support frame, fisheye support, and multi-angle adjustment mechanism;
[0020] Figure 7 for Figure 6 Another perspective diagram, mainly showing the positions of the gyroscope and laser rangefinder;
[0021] In the figure: 1. UAV; 11. Visual camera; 12. Landing gear; 13. Center machine; 100. Measuring rod; 200. Support plate; 101. Prism; 102. Landing gear; 103. Laser rangefinder; 2. Total station; 3. Handheld terminal; 4. Plane position adjustment mechanism; 41. Square frame base; 42. X-axis movable frame; 43. X-axis high-precision linear guide; 44. Drive motor 1; 45. Y-axis movable frame; 46. Y-axis high-precision linear guide; 47. Drive motor 2; 5. Support frame; 51. Short cylinder; 52. Right-angle frame; 53. Arc strip plate; 6. Fisheye support; 61. Ball and socket seat; 62. Ball head; 63. Sleeve; 7. Multi-angle adjustment mechanism; 71. Articulated ring; 72. Electric push rod; 73. Hydraulic support rod; 74. Universal ball seat. DETAILED DESCRIPTION
[0022] In order to better understand the technical solution of the present application, the technical solution of the present application will be described in detail below with reference to the accompanying drawings and specific implementation methods.
[0023] Reference Figure 1 A flying displacement measurement robot device for high-precision measurement of bridge piers includes a drone 1, a total station 2, and a handheld terminal 3. The drone 1 is equipped with a measuring rod 100. The drone 1 is controlled by a flight control system to fly to the top surface of the target pier, and the visual camera 11 on the drone 1 obtains the center position of the top surface of the pier and lands. The total station 2 measures distance and positioning by transmitting signals to the prism 101 at the top of the measuring rod 100. The handheld terminal 3 is used to issue task instructions to the drone 1.
[0024] Reference Figure 2 UAV 1 is also equipped with a plane position adjustment mechanism 4, a support frame 5, a fisheye support member 6, and a multi-angle adjustment mechanism 7. Controlled by the flight control system, UAV 1 first flies above the target bridge pier. The visual camera 11 onboard UAV 1 uses image recognition technology to capture images of the pier's top surface in real time and determines the center position of the pier's top surface using an image processing algorithm. The flight control system then adjusts the position of UAV 1 based on the data fed back by the visual camera 11, causing it to land at the center of the pier's top surface.
[0025] At this time, the landing point may be complicated due to the presence of gravel, rainwater, etc. on the top surface of the pier, so it is not necessarily in the center of the pier. Then the position of the measuring rod 100 is adjusted through the plane position adjustment mechanism 4 so that the measuring rod 100 is at the center point of the top surface of the pier. The plumbness of the measuring rod 100 is adjusted through the multi-angle adjustment mechanism 7 so that the measuring rod 100 is in a vertical state.
[0026] Reference Figure 3-Figure 5 The central platform 13 of the UAV 1 is in the shape of a square frame. A support plate 200 is fixed between the landing gears 10212 on both sides of the UAV 1. The support plate 200 is located directly below the central platform 13. The plane position adjustment mechanism 4 is installed on the support plate 200. The plane position adjustment mechanism 4 is used to fine-tune the position of the measuring rod 100. The measuring rod 100 passes upward through the central platform 13 of the UAV 1. A prism 101 is installed on the top of the measuring rod 100, and a gyroscope and a laser rangefinder 103 are installed at the bottom of the measuring rod 100.
[0027] The plane position adjustment mechanism 4 includes a square frame base 41, an X-axis movable frame 42, an X-axis high-precision linear guide 43, a first drive motor 44, a Y-axis movable frame 45, a Y-axis high-precision linear guide 46, and a second drive motor 47. The square frame base 41, the X-axis movable frame 42, and the Y-axis movable frame 45 are all square frame plates and are stacked in this order from bottom to top. The square frame base 41 is fixedly mounted on the support plate 200 of the drone 1 and serves as the foundation for the entire plane position adjustment mechanism 4. The X-axis movable frame 42 is slidably connected to the square frame base 41 via guide rails, and the Y-axis movable frame 45 is slidably connected to the X-axis movable frame 42 via guide rails. The sliding directions of the X-axis movable frame 42 and the Y-axis movable frame 45 are perpendicular to each other. An X-axis high-precision linear guide 43 is mounted on one side of the square frame base 41. A first drive motor 44 is mounted at the end of the X-axis high-precision linear guide 43. This drives the X-axis high-precision linear guide 43, which in turn drives the X-axis movable frame 42 in linear motion. A Y-axis high-precision linear guide 46 is mounted on one side of the X-axis movable frame 42. A second drive motor 47 is mounted at the end of the Y-axis high-precision linear guide 46. This drives the Y-axis high-precision linear guide 46, which in turn drives the Y-axis movable frame 45 in linear motion. The display interface on the handheld terminal 3 includes adjustment buttons for the plane position adjustment mechanism 4.
[0028] The measuring rod 100 is fixed to the plane position adjustment mechanism 4 through the support frame 5 and the fisheye support 6. The measuring rod 100 is provided with lateral and longitudinal displacement sensors to sense the position of the measuring rod 100. The center point offset is calculated by comparing it with the center point coordinates of the bridge pier outline obtained by the visual camera 11 on the drone 1 through image recognition technology. The center point offset data is fed back to the controller, and the controller adjusts the position of the X-direction moving frame plate 42 and the Y-direction moving frame plate 45 by controlling the drive motor 1 44 and the drive motor 2 47, thereby finally achieving fine-tuning of the position of the measuring rod 100.
[0029] Reference Figure 3 、 Figure 6 and Figure 7The support frame 5 includes a short tube 51, a right-angle bracket 52, and an arc strip plate 53. The short tube 51 is vertically arranged at the center point of the Y-direction movable frame plate 45, and the axis of the short tube 51 passes through the movable surface of the plane position adjustment mechanism 4; a plurality of right-angle brackets 52 are fixed along the circumference of the short tube 51, one of the right-angle sides of the right-angle bracket 52 is fixed to the outer surface of the short tube 51, and the other right-angle side is vertical to the bottom edge of the outer surface of the short tube 51; the end of each right-angle bracket 52 away from one end of the short tube 51 is integrally formed with an arc strip plate 53, and the arc top of the arc strip plate 53 is connected to the end of the right-angle bracket 52, and both ends of the arc strip plate 53 are used to be fixed to the upper surface of the Y-direction movable frame plate 45. The fisheye support 6 includes a ball socket 61, a ball head 62 and a sleeve 63; the ball socket 61 is fixed in the short tube 51, the ball head 62 is placed in the ball socket 61, the ball head 62 rotates freely in the ball socket 61, and the interior of the ball head 62 is a hollow column; the sleeve 63 is fixed in the ball head 62, and the measuring rod 100 is inserted tightly into the sleeve 63; the fisheye support 6 can enable the measuring rod 100 to freely adjust the angle within the support frame 5.
[0030] Continue to refer to Figure 3 、 Figure 6 and Figure 7 The multi-angle adjustment mechanism 7 is installed on the upper surface of the Y-axis movable frame plate 45. The multi-angle adjustment mechanism 7 includes a hinge ring 71, an electric push rod 72, a hydraulic support rod 73, and a universal ball seat 74. The hinge ring 71 is fixed to the measuring rod 100, and is provided with four hinge points equidistantly arranged on the periphery of the measuring rod 100. There are two electric push rods 72, which are respectively located at two adjacent hinge points on the hinge ring 71, and the ends of the telescopic rods of the electric push rods 72 are hinged to the hinge points of the hinge ring 71. There are two hydraulic support rods 73, which are respectively located at the other two adjacent hinge points on the hinge ring 71, and the ends of the telescopic rods of the hydraulic support rods 73 are hinged to the hinge points of the hinge ring 71. The universal ball seat 74 is fixed to the plane position adjustment mechanism 4, and the bottom ends of each electric push rod 72 and each hydraulic support rod 73 are fixed to the universal ball seat 74. The display interface on the handheld terminal 3 has adjustment buttons for the multi-angle adjustment mechanism 7 .
[0031] The gyroscope monitors the verticality of the measuring rod 100 in real time and feeds this data back to the controller. Based on this gyroscope feedback, the controller calculates adjustment data and sends it to the multi-angle adjustment mechanism 7, adjusting the extension and retraction lengths of the electric push rod 72 and the hydraulic support rod 73 to ensure that the measuring rod 100 remains vertical. Therefore, through the coordinated operation of the electric push rod 72 and the hydraulic support rod 73, the multi-angle adjustment mechanism 7 can accurately adjust the angle of the measuring rod 100.
[0032] This application can explain its functional principles through the following operation methods:
[0033] During the measurement process, the drone 1 is started and flies above the target bridge pier. The visual camera 11 on the drone 1 uses image recognition technology to capture the image of the top surface of the bridge pier in real time, and determines the center position of the top surface of the bridge pier through image processing algorithms. Then, the flight control system adjusts the position of the drone 1 so that it lands at the center position of the top surface of the bridge pier.
[0034] Due to the complex landing point on the top of the pier, environmental factors may affect the position of the measuring rod 100 after landing, resulting in a deviation between the measuring rod 100 and the center point of the pier top surface. At this time, the measuring rod 100 is equipped with lateral and longitudinal displacement sensors to sense its position. By comparing the coordinates of the center point of the pier outline obtained by the visual camera 11 on the drone 1 through image recognition technology, the center point offset is calculated. Based on the center point offset, the drive motor 1 44 and the drive motor 2 47 are controlled to adjust the position of the X-axis movable frame plate 42 and the Y-axis movable frame plate 45, ultimately achieving fine-tuning of the position of the measuring rod 100. Afterwards, the gyroscope monitors the plumbness of the measuring rod 100 in real time and adjusts the extension and retraction lengths of the electric push rod 72 and the hydraulic support rod 73 to ensure that the measuring rod 100 always remains plumb.
[0035] It solves the technical problems in the existing technology of bridge pier measurement, such as the complex and dangerous high-altitude working environment and the difficulty of traditional measuring equipment to stably maintain the center point position and plumbness. It realizes high-precision measurement without climbing to the top of the pier, meeting the higher requirements of modern bridge engineering for measurement accuracy and efficiency.
[0036] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.
[0037] The above is only a preferred specific implementation method of the embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes based on the technical solution and concept of the present application within the technical scope disclosed in the present application, and they should be covered by the scope of protection of the present application.
Claims
1. A flying displacement measurement robot device for high-precision measurement of bridge piers, characterized in that: include: A drone (1) is equipped with a measuring rod (100). The drone (1) is controlled by a flight control system to fly to the top surface of a target bridge pier, and a visual camera (11) on the drone (1) obtains the center position of the top surface of the bridge pier and lands. The total station (2) measures distance and positions by transmitting signals to the prism at the top of the measuring rod (100); A handheld terminal (3) is used to issue mission instructions to the drone (1); The drone (1) is further provided with a plane position adjustment mechanism (4), a support frame (5), a fisheye support member (6), and a multi-angle adjustment mechanism (7); A plane position adjustment mechanism (4) is installed on the UAV (1), a measuring rod (100) is vertically placed in the middle of the plane position adjustment mechanism (4), a prism (101) is installed on the top of the measuring rod (100), and a gyroscope (102) and a laser rangefinder (103) are installed on the bottom, and the laser rangefinder (103) is used to emit a laser signal and illuminate the top surface of the bridge pier; A support frame (5) is mounted on the plane position adjustment mechanism (4) and is used to support the measuring rod (100); A fisheye support member (6) is installed in the support frame (5), and the measuring rod (100) is installed in the support frame (5) through the fisheye support member (6); A multi-angle adjustment mechanism (7) is installed on the plane position adjustment mechanism (4) and is used to adjust the angle of the measuring rod (100). The multi-angle adjustment mechanism (7) adjusts the verticality of the measuring rod (100) based on the verticality data fed back by the gyroscope (102); The plane position adjustment mechanism (4) drives the support frame (5) and the multi-angle adjustment mechanism (7) to move synchronously, and is used to adjust the measuring rod (100) to the center point of the bridge pier.
2. The flying displacement measurement robot device for high-precision measurement of bridge piers according to claim 1, characterized in that: The plane position adjustment mechanism (4) comprises: A square frame base (41) is fixedly mounted on the landing gear (12) of the UAV (1); An X-axis movable frame plate (42) is slidably connected to the top surface of the square frame plate base (41); An X-axis high-precision linear guide rail (43) is installed on one side of the square frame base (41) and is used to drive the X-axis movable frame (42) to move; A driving motor (44) is installed at the end of the X-direction high-precision linear guide rail (43) and is used to drive the X-direction high-precision linear guide rail (43) to operate; A Y-direction movable frame plate (45) is slidably connected to the top surface of the X-direction movable frame plate (42); A Y-direction high-precision linear guide rail (46) is installed on one side of the X-direction movable frame plate (42) and is used to drive the Y-direction movable frame plate (45) to move; A second driving motor (47) is installed at the end of the Y-direction high-precision linear guide rail (46) and is used to drive the Y-direction high-precision linear guide rail (46) to operate; The support frame (5) and the multi-angle adjustment mechanism (7) are both mounted on the Y-moving frame plate (45), and the laser irradiation of the laser rangefinder (103) passes through the Y-moving frame plate (45), the X-moving frame plate (42), and the square frame plate base (41). The central platform (13) of the drone (1) is in the shape of a square frame, and the measuring rod (100) passes through the central platform (13).
3. The flying displacement measurement robot device for high-precision measurement of bridge piers according to claim 2, characterized in that: The support frame (5) comprises: A short tube (51), placed vertically and used for mounting the fisheye support (6), wherein the bottom of the measuring rod (100) passes through the short tube (51); A right-angle frame (52), one of the right-angle sides of which is fixed on the outer surface of the short tube (51), a plurality of the right-angle frames (52) are fixed along a circle of the short tube (51), and the right-angle frames (52) are fixed on the Y-direction movable frame plate (45).
4. The flying displacement measurement robot device for high-precision measurement of bridge piers according to claim 3, characterized in that: The support frame (5) further comprises an arc plate (53), the arc top of the arc plate (53) being fixedly connected to one end of the right-angle frame (52) away from the short tube (51), and both ends of the arc plate (53) being fixed to the Y-direction movable frame plate (45), and each right-angle frame (52) is fixed with the arc plate (53).
5. The flying displacement measurement robot device for high-precision measurement of bridge piers according to claim 3, characterized in that: The fisheye support member (6) comprises: A ball and socket seat (61) is fixed in the short cylinder (51); A ball head (62) is placed in the ball socket (61), the ball head (62) is freely rotatable in the ball socket (61), and the interior of the ball head (62) is in a hollow column shape; A sleeve (63) is fixed in the ball head (62), and the measuring rod (100) is tightly inserted into the sleeve (63).
6. The flying displacement measurement robot device for high-precision measurement of bridge piers according to claim 1, characterized in that: The multi-angle adjustment mechanism (7) comprises: A hinge ring (71) is fixed on the measuring rod (100), and the hinge ring (71) is provided with four hinge points and is equidistantly arranged on the periphery of the measuring rod (100); Two electric push rods (72) are provided and are respectively located at two adjacent hinge points on the hinge ring (71), and the ends of the telescopic rods of the electric push rods (72) are hinged at the hinge points of the hinge ring (71); Two hydraulic support rods (73) are provided and are respectively located at two other adjacent hinge points on the hinge ring (71), and the ends of the telescopic rods of the hydraulic support rods (73) are hinged at the hinge points of the hinge ring (71); A universal ball seat (74) is fixed on the plane position adjustment mechanism (4), and the bottom end of each electric push rod (72) and each hydraulic support rod (73) is fixed on the universal ball seat (74).
7. The flying displacement measurement robot device for high-precision measurement of bridge piers according to claim 1, characterized in that: A support plate (200) is fixed between the landing gears (12) on both sides of the UAV (1), and the plane position adjustment mechanism (4) is fixedly mounted on the support plate (200).