Sanitation patrol unmanned aerial vehicle and control method thereof

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses an environmental sanitation patrol unmanned aerial vehicle and a control method thereof.The environmental sanitation patrol unmanned aerial vehicle comprises a vehicle body, paddle arms fixed to the four sides of the vehicle body, an undercarriage fixed to the lower portion of the vehicle body, a patrol camera fixed to the lower portion of the vehicle body, and power cylinders fixed to the ends, away from the vehicle body, of the paddle arms; the double-shaft motor is fixed in the power cylinder; the lower part of the power rod is fixed on a rotating shaft above the double-shaft motor; according to the invention, when the broken blades are rapidly treated, the remaining blades can be accurately adjusted to guarantee flight stability: when the blades of the propeller are broken, the blade emergency control system realizes separation of the broken blades from a power structure by virtue of a separation piece, and a double-shaft motor is thrown out from a gap of a second annular sliding table under the action of centrifugal force; the system drives the remaining blades to stably slide on the first annular sliding table and the second annular sliding table, the pitch angle is adjusted according to the equal angle, the stress attitude is optimized, lift force distribution is recovered to be balanced, and flight attitude unbalance is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a sanitation inspection UAV and a control method thereof. Background Art

[0002] In the field of sanitation inspections, drones, due to their flexibility and efficiency, are widely used for environmental monitoring in sparsely populated areas such as remote urban roads, suburban garbage dumps, and riverbanks. Existing sanitation inspection drones mostly use a multi-rotor layout, and their flight stability is highly dependent on the symmetrical force applied to the propeller blades. When one or more blades break due to external impact, fatigue damage, or other factors, the remaining blades will vibrate irregularly due to centrifugal force, not only continuously disrupting the balance of the aircraft but also potentially causing secondary collisions with other structures, further exacerbating the problem. Furthermore, the distribution angles of the remaining blades after the breakage are disrupted, resulting in asymmetric lift output, which can cause the drone to lose control and easily lead to a crash. Solutions for blade breakage have significant limitations. For one thing, existing technology cannot actively separate a broken blade from the power structure, leaving the broken portion attached to the rotating assembly, posing a persistent safety hazard. Furthermore, there's no mechanism for dynamically adjusting the remaining blades—their angular positions can't be reallocated based on the breakage, making it difficult to optimize the load-bearing attitude to compensate for lift loss. Even some drones equipped with attitude control algorithms can only make limited corrections by adjusting the motor speed, failing to structurally address the balance issue after a blade breakage. In scenarios with multiple blades breaking, the risk of loss of control remains unavoidable. There are often obstacles such as branches and cables in sanitation inspection scenes, and the probability of blade collision and breakage is high. Due to the above defects, existing drones often fall directly once the blade breaks, which not only causes damage to the equipment, but may also leave debris in the inspection area, affecting environmental sanitation or causing secondary safety accidents. Summary of the Invention

[0003] The present invention provides an environmental sanitation inspection UAV and a control method thereof, which are used for efficient environmental sanitation inspections.

[0004] In order to solve the above technical problems, the technical solutions of the present invention are as follows: In a first aspect, a sanitation inspection drone comprises: a fuselage and propeller arms fixed on four sides of the fuselage, a landing gear fixed below the fuselage, a patrol camera fixed below the fuselage, and further comprising: A power cylinder is fixed to the end of the propeller arm away from the fuselage; a dual-axis motor is fixed in the power cylinder; a power rod is fixed to the rotating shaft above the dual-axis motor; a separator is fixed to the power cylinder; a synchronous rotating member is slidably set on the separator; four propeller blades are provided on the same dual-axis motor, the four propeller blades are arranged at equal angles, and the four propeller blades are all slidably set on the separator; The power holes are opened on the power rod, and there are twelve power holes opened at equal angles on the same power rod; The sliding ring is rotatably sleeved on the power rod; the first annular slide is fixed on the sliding ring at the bottom; the second annular slide has a base slidably inserted in the sliding ring; twelve separation clamps are arranged at equal angles on the same power rod, and the twelve separation clamps are respectively slidably set in the power holes; the separation rod is rotatably inserted in the power rod and rotatably inserted in the rotating shaft of the dual-axis motor; The propeller seat is fixed on the propeller blade and is located between the power rod and the sliding ring; the separation slot is opened above the propeller seat, and three separation slots are opened on the same propeller seat, and the opening angles of the three separation slots match the separation clamp head; the sliding groove is opened below the propeller seat; the staggered inclined surface is opened on both sides of the same propeller seat.

[0005] Furthermore, the separation element further comprises: The movable cylinder is fixed on the power cylinder at the bottom and is rotatably sleeved on the power rod; the movable slip ring is slidably arranged in the movable cylinder; the movable spring is fixed on the inner bottom of the movable cylinder at one end and fixed on the movable slip ring at the other end; the connecting rod is fixed on the top of the movable slip ring and the other end is fixed on the bottom of the sliding ring; the limiting ring is fixed in the power hole and slidably sleeved on the separation clamp; the spring seat is fixed in the power hole and is located directly above the limiting ring; the unlocking permanent magnet is slidably arranged in the power hole and is located directly above the separation clamp; the extension rod is fixed on the separation clamp at one end and fixed on the unlocking permanent magnet at the other end; the unlocking spring is sleeved on the extension rod, one end is fixed on the separation clamp and the other end is fixed on the spring seat.

[0006] Furthermore, the separation element further comprises: A separation spring, one end of which is fixed in the sliding ring and the other end is fixed to the second annular slide; a separation permanent magnet, which is fixed below the second annular slide; a separation electromagnet, which is fixed to the inner bottom of the sliding ring and is located directly below the separation permanent magnet; an unlocking hole, which is opened on the separation rod and is located at equal angles on the same separation rod; twelve unlocking electromagnets, which are respectively fixed to the unlocking holes.

[0007] Furthermore, the synchronous rotating element includes: The synchronous groove is opened below the separation rod; the synchronous column is slidably inserted in the synchronous groove; the first synchronous cylinder is fixed on the synchronous column; and the second synchronous cylinder is fixed on the rotating shaft below the dual-axis motor.

[0008] Furthermore, the synchronous rotating element further includes: The anti-rotation groove is opened at the inner bottom of the power cylinder; the anti-rotation spring has one end fixed in the synchronous groove and the other end fixed on the synchronous column; the synchronous electromagnet is fixed in the synchronous groove; the synchronous permanent magnet is embedded above the synchronous column and is located directly below the synchronous electromagnet.

[0009] Furthermore, it also includes: The front-view camera is rotatably arranged at the front end of the fuselage; the searchlight is fixed at the front end of the fuselage; and the power supply module is fixed in the separation rod.

[0010] In a second aspect, a control method for a sanitation inspection drone comprises the following steps: Step 1: synchronously collect the angular velocity data of the gyroscope and the linear acceleration data of the accelerometer, perform real-time fusion processing on the two types of data, dynamically update the flight attitude estimation value and output an abnormal attitude fluctuation signal; Step 2: Receive the abnormal attitude fluctuation signal output from step 1, monitor the magnetic field intensity distribution between the separation permanent magnet and the separation electromagnet in real time, identify the magnetic field mutation position by calculating the magnetic field intensity gradient vector, and locate the broken blade and the fracture position based on the spatial mapping relationship between the mutation position and the blade; Step 3: When a sudden change in lift caused by a blade break is identified in step 2, a target separation instruction set is generated according to the break location, and an emergency response mechanism in the corresponding blade power cylinder is activated; Step 4, in response to the separation instruction set generated in step 3, execute the following in sequence: The unlocking electromagnet at the corresponding position of the broken blade is driven to generate an attractive magnetic field, forcing the unlocking permanent magnet to drive the separation clamp to retract into the power hole, thereby releasing the propeller seat lock; Start the separation electromagnet to attract the separation permanent magnet, driving the second annular slide to retract toward the inside of the slide ring; The broken blade is thrown away from the machine body through the notch of the second annular slide by using the centrifugal force of the dual-axis motor; Step 5: Based on the distribution of the remaining blades after the broken blades are thrown out in step 4, execute: The separation clamp is controlled to remain in a retracted state to reserve space for angle adjustment; the speed of the dual-axis motor is reduced to allow the blade to be adjusted to slide along the first annular slide; after guiding the blade seat to slide to the target angle through the offset inclined surface, the separation clamp rebounds and is clamped into the separation slot; the motor speed is restored and the pitch is adjusted to achieve lift balance reconstruction of the remaining blades.

[0011] Furthermore, step 4 includes: Step 41: Receive the broken blade position signal output in step 2, perform time-frequency domain analysis on the separation permanent magnet magnetic field intensity sampling sequence corresponding to the target blade, and extract the amplitude characteristics and time series coordinates of the magnetic field intensity gradient mutation point; Step 42: Generate a synchronous control pulse according to the timing coordinates determined in step 41, and send an activation instruction to the unlocking electromagnet and the separation electromagnet in the power cylinder where the broken blade is located; Step 43, responding to the activation instruction of step 42: The separation electromagnet generates a strong attraction force when it is energized. The separation permanent magnet drives the second annular slide to move downward along the axial direction of the slide ring. The separation spring is compressed to cause the second annular slide to contract radially to the inside of the slide ring. The second annular slide contracts to form a gap in the throw-off channel. At the same time, the separation lever is linked to rotate so that the unlocking hole is aligned with the power hole. Step 44, following the unlocking hole alignment state formed in step 43: The unlocking electromagnet is energized to generate an attractive magnetic field, pushing the unlocking permanent magnet upward along the unlocking hole; the unlocking permanent magnet pulls the separation clamp out of the separation clamping slot of the propeller seat through the extension rod, and compresses the unlocking spring to make it completely retract into the power hole; after the propeller seat is unlocked, it maintains sliding contact with the first annular slide through the sliding groove; Step 45, based on the unlocked state of the propellers completed in step 44: The continuous rotation of the dual-axis motor generates centrifugal force, pushing the broken blade to slide outward along the gap formed by the contraction of the second annular slide; after the propeller seat detaches from the first annular slide, the broken blade is thrown away from the fuselage along the tangential direction of the power cylinder.

[0012] Furthermore, step 5 includes: Step 51: Receive the broken blade separation signal output in step 45, and based on the position record of the blade before the break and the current distribution status of the remaining blades: The normal blade preceding the broken blade is used as the angle reference zero point; the theoretical optimal distribution angle range is calculated based on the number of remaining blades; Step 52, according to the target angle interval determined in step 51: The unlocking electromagnet corresponding to the blade to be adjusted is controlled to remain in an energized state, so that the separation clamp remains retracted into the power hole; the propeller seat is slidably connected to the first annular slide through the sliding groove; Step 53, in response to the sliding connection state established in step 52: The speed of the dual-axis motor is reduced to a preset safety threshold to reduce the centrifugal constraint force. The blade to be adjusted slides circumferentially along the first annular slide under the action of inertia, while the second annular slide expands radially to form a slide rail under the action of the separation spring. During the sliding of the blade seat, the offset inclined surfaces on both sides contact the end of the separation clamp to generate a guiding force. Step 54, based on the inclined surface contact state: When the propeller seat slides into the target angle range, the offset bevel continuously presses the separation clamp into the power hole; the unlocking electromagnet current is cut off, and the unlocking spring pushes the separation clamp out of the power hole; the separation clamp accurately snaps into the separation slot after the propeller seat slides into place; Step 55: Following the locking completion state, the dual-axis motors are restored to the rated speed; and the blade pitches are adjusted to compensate for the lift loss.

[0013] Furthermore, step 51 implements differentiated strategies for different fault scenarios, including: When a single blade breaks: Calculate the target positions of the remaining three blades divided equally into 120° with the reference zero point as a reference; control the three blades to be adjusted to synchronously execute steps 52 to 54; When the two propeller blades break continuously: Determine the geometric symmetry axis of the remaining two propeller blades; adjust the two propeller blades to a 180° symmetrical position on both sides of the axis; and double the pitch compensation amount when executing step 55; When the double blade spacer breaks: Maintaining the naturally formed 180° distribution of the remaining two blades; using an incremental PID algorithm to dynamically adjust the blade pitch to compensate for lift loss; When three blades break: Collect barometer altitude data and motor current values ​​in real time; calculate the real-time ratio K of the remaining single blade lift to the entire aircraft gravity; trigger the emergency return protocol when K is less than 1.2.

[0014] The above solution of the present invention includes at least the following beneficial effects: The present invention can quickly process broken blades and reduce safety hazards while accurately adjusting the remaining blades to ensure flight stability: when the propeller blade is broken, the blade emergency control system relies on the separation component to drive the second annular slide to contract by attracting the separation permanent magnet through the separation electromagnet, and simultaneously attracting the unlocking permanent magnet by the unlocking electromagnet to disengage the separation clamp from the separation slot, thereby separating the broken blade from the power structure, and then throwing it out of the gap of the second annular slide under the action of the centrifugal force of the dual-axis motor to avoid secondary damage caused by the residual part; after the broken blade is thrown out, the system drives the remaining blades to slide smoothly on the first annular slide and the second annular slide, cooperates with the engagement of the separation clamp and the separation slot and the offset inclined plane guide, adjusts the pitch angle at equal angles, optimizes the force posture to restore the lift distribution to a balanced state, and avoids imbalance in the flight posture.

[0015] The present invention uses a blade emergency control system to adaptively adjust the control strategy according to the number and distribution status of broken blades: when a single blade breaks, the remaining three blades are controlled to be distributed at 120° and the pitch is optimized; when two blades break continuously, the remaining two blades are adjusted to a symmetrical distribution of 180°; when two blades break at intervals, the balance is directly restored through pitch optimization; when three blades break, an emergency return command is immediately triggered to ensure the safe landing of the patrol drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the overall structure of a sanitation inspection drone from a first perspective provided by an embodiment of the present invention; Figure 2 A schematic diagram of the overall structure of a sanitation inspection drone from a second perspective provided by an embodiment of the present invention; Figure 3 A schematic structural diagram of a power cylinder of a sanitation inspection drone provided by an embodiment of the present invention; Figure 4 A schematic diagram of the structure of a dual-axis motor for a sanitation inspection drone provided by an embodiment of the present invention; Figure 5 A sanitation inspection drone provided by an embodiment of the present invention Figure 4 A magnified view of point A; Figure 6 A schematic diagram of the structure of a dual-axis motor for a sanitation inspection drone provided by an embodiment of the present invention; Figure 7 A sanitation inspection drone provided by an embodiment of the present invention Figure 6 Enlarged view of point B; Figure 8 A schematic diagram of the structure of a synchronization slot of a sanitation inspection drone provided by an embodiment of the present invention; Figure 9 A sanitation inspection drone provided by an embodiment of the present invention Figure 8 Enlarged view of point C; Figure 10 A schematic diagram of the structure of a blade of a sanitation inspection drone provided by an embodiment of the present invention; Figure 11 A sanitation inspection drone provided by an embodiment of the present invention Figure 10 Enlarged view of point D; Figure 12 A distribution diagram of three blades of a sanitation inspection drone provided in an embodiment of the present invention; Figure 13 This is a distribution diagram of the double blades of a sanitation inspection drone provided in an embodiment of the present invention.

[0017] Description of reference numerals: In the figure: 1. fuselage; 2. propeller arm; 3. landing gear; 4. inspection camera; 5. power cylinder; 6. dual-axis motor; 7. power rod; 701. power hole; 8. separation piece; 801. slide ring; 802. first annular slide; 803. second annular slide; 804. separation clamp; 805. separation rod; 806. movable cylinder; 807. movable slip ring; 808. movable spring; 809. connecting rod; 8010. limit ring; 8011. spring seat; 8012. unlocking permanent magnet; 8013. extension rod; 8014. unlocking spring; 8015 , separation spring; 8016, separation permanent magnet; 8017, separation electromagnet; 8018, unlocking hole; 8019, unlocking electromagnet; 9, synchronous rotating part; 901, synchronization groove; 902, synchronization column; 903, first synchronization cylinder; 904, second synchronization cylinder; 905, anti-rotation groove; 906, anti-rotation spring; 907, synchronization electromagnet; 908, synchronization permanent magnet; 10, blade; 1001, propeller seat; 1002, separation slot; 1003, sliding groove; 1004, offset slope; 11, forward-looking camera; 12, searchlight; 13, power supply module. DETAILED DESCRIPTION

[0018] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0019] like Figures 1 to 11 As shown, an embodiment of the present invention provides a sanitation inspection UAV, comprising: a fuselage 1 and paddle arms 2 fixed on all four sides of the fuselage 1, a landing gear 3 fixed under the fuselage 1, and an inspection camera 4 fixed under the fuselage 1, and also comprising: a power cylinder 5, fixed on the end of the paddle arm 2 away from the fuselage 1; a dual-axis motor 6, fixed in the power cylinder 5; a power rod 7, fixed below on the rotating shaft above the dual-axis motor 6; a separator 8, fixed on the power cylinder 5; a synchronous rotating member 9, slidably set on the separator 8; four blades 10, located on the same dual-axis motor 6, the four blades 10 are set at equal angles, and the four blades 10 are all slidably set on the separator 8.

[0020] The power hole 701 is opened on the power rod 7, and there are twelve of them at equal angles on the same power rod 7; the sliding ring 801 is rotatably connected to the power rod 7; the first annular slide 802 is fixed on the sliding ring 801 at the bottom; the second annular slide 803 has a base that is slidably inserted into the sliding ring 801; the separation clamp 804 is located on the same power rod 7 and is set at twelve equal angles. The twelve separation clamps 804 are respectively slidably set in the power hole 701; the separation rod 805 is rotatably inserted into the power rod 7 It is rotatably inserted into the rotating shaft of the dual-axis motor 6; the propeller seat 1001 is fixed on the propeller blade 10 and is located between the power rod 7 and the sliding ring 801; the separation slot 1002 is opened above the propeller seat 1001, and three separation slots 1002 are opened on the same propeller seat 1001, and the opening angles of the three separation slots 1002 match the separation clamping head 804; the sliding groove 1003 is opened below the propeller seat 1001; the staggered inclined surface 1004 is opened on both sides of the same propeller seat 1001.

[0021] It also includes: a front-view camera 11 rotatably arranged at the front end of the fuselage 1 ; a searchlight 12 fixed at the front end of the fuselage 1 ; and a power supply module 13 fixed in the separation rod 805 .

[0022] Specifically, the patrol camera 4 is used to collect visual data of the sanitation area in real time, including but not limited to environmental information such as garbage accumulation, road cleaning conditions, illegal dumping behavior, etc.; the patrol camera 4 is equipped with an anti-shake gimbal and an adaptive exposure module, which can maintain image clarity under different lighting conditions, and transmit the data back to the ground control center in real time through the wireless transmission module.

[0023] In another preferred embodiment of the present invention, the separator 8 further includes: a movable cylinder 806, which is fixed on the power cylinder 5 at the bottom and is rotatably sleeved on the power rod 7; a movable slip ring 807, which is slidably arranged in the movable cylinder 806; a movable spring 808, one end of which is fixed on the inner bottom of the movable cylinder 806 and the other end is fixed on the movable slip ring 807; a connecting rod 809, one end of which is fixed above the movable slip ring 807 and the other end is fixed below the sliding ring 801; a limiting ring 8010, which is fixed in the power hole 701 and slides It is sleeved on the separation clamp 804; the spring seat 8011 is fixed in the power hole 701 and is located directly above the limit ring 8010; the unlocking permanent magnet 8012 is slidably set in the power hole 701 and is located directly above the separation clamp 804; the extension rod 8013, one end of which is fixed on the separation clamp 804, and the other end is fixed on the unlocking permanent magnet 8012; the unlocking spring 8014 is sleeved on the extension rod 8013, one end of which is fixed on the separation clamp 804, and the other end is fixed on the spring seat 8011.

[0024] The separation member 8 also includes: a separation spring 8015, one end of which is fixed in the sliding ring 801 and the other end is fixed on the second annular slide 803; a separation permanent magnet 8016, which is fixed below the second annular slide 803; a separation electromagnet 8017, which is fixed on the inner bottom of the sliding ring 801 and is located directly below the separation permanent magnet 8016; an unlocking hole 8018, which is opened on the separation rod 805, and twelve of which are opened at equal angles on the same separation rod 805; and twelve unlocking electromagnets 8019, which are respectively fixed in the unlocking holes 8018.

[0025] Specifically, the magnetic field sizes of the twelve unlocking permanent magnets 8012 are all different; the difference in adjacent magnetic field strengths is 0.05T, and each unlocking permanent magnet 8012 corresponds to a unique magnetic field code; the unlocking electromagnet 8019 senses magnetic field signals of different intensities and combines the speed data of the dual-axis motor 6 to achieve precise positioning and identification of each unlocking permanent magnet 8012, with a positioning error of less than ±5°.

[0026] In another preferred embodiment of the present invention, the synchronous rotating member 9 includes: a synchronous groove 901, which is opened below the separation rod 805; a synchronous column 902, which is slidably inserted in the synchronous groove 901; a first synchronous cylinder 903, which is fixed on the synchronous column 902; a second synchronous cylinder 904, which is fixed on the rotating shaft below the dual-axis motor 6; the synchronous rotating member 9 also includes: a stop groove 905, which is opened at the inner bottom of the power cylinder 5; a stop spring 906, one end of which is fixed in the synchronous groove 901 and the other end is fixed on the synchronous column 902; a synchronous electromagnet 907, which is fixed in the synchronous groove 901; and a synchronous permanent magnet 908, which is embedded above the synchronous column 902 and is located directly below the synchronous electromagnet 907.

[0027] Working principle: When the inspection drone encounters a collision with an external object during an inspection operation, the blade 10 is subjected to external force due to rigid impact, force imbalance and fatigue damage, and then the blade 10 breaks; after the blade 10 breaks, the lift distribution of the drone is instantly unbalanced, and the flight attitude cannot be stably controlled, which eventually leads to a crash.

[0028] The inspection UAV of the present invention adopts a four-propeller layout, each propeller is composed of a power cylinder 5, a dual-axis motor 6, a power rod 7 and a blade 10, and a single propeller is equipped with four blades 10; when a blade 10 on a propeller breaks, the blade emergency control system will first separate the broken blade 10 from the power structure, and then use the high-speed rotation centrifugal force of the dual-axis motor 6 to throw out the broken blade 10; the blade emergency control system will drive the remaining blades 10 to readjust the pitch angle at an equal angle, and restore the lift distribution to a balanced state by optimizing the force posture of the remaining blades 10, thereby maintaining the flight stability of the inspection UAV and achieving safe return.

[0029] After starting the dual-axis motor 6, the rotating shaft of the dual-axis motor 6 begins to rotate and drives the power rod 7 to rotate synchronously; since the separation clamp 804 is embedded in the power hole 701 of the power rod 7 and engages with the separation slot 1002 of the blade 10, the rotational force of the power rod 7 will be transmitted to the blade 10 through the separation clamp 804, driving the blade 10 to rotate smoothly along the first annular slide 802 and the second annular slide 803; when the blade 10 rotates, it cuts the air to generate lift, thereby driving the patrol drone to take off and fly.

[0030] When the inspection drone is hit by an external object, the built-in gyroscope and accelerometer will immediately detect the abnormal posture caused by the impact and trigger the blade emergency control system; the synchronous electromagnet 907 starts quickly and generates magnetic force, attracting the synchronous permanent magnet 908; the synchronous permanent magnet 908 moves upward under the action of the magnetic force, driving the synchronous column 902 to retract into the synchronous groove 901 until it is completely out of the anti-rotation groove 905; after the synchronous column 902 retracts, the first synchronous cylinder 903 of the synchronous column 902 is precisely docked with the second synchronous cylinder 904 on the dual-axis motor 6; the rotating shaft of the dual-axis motor 6 then passes through the meshing structure of the first synchronous cylinder 903 and the second synchronous cylinder 904, driving the synchronous column 902 and the separation rod 805 to rotate synchronously; the separation rod 805 and the power rod 7 are kept in contact with each other. They rotate at the same speed, and the unlocking electromagnet 8019 in the separation rod 805 and the unlocking permanent magnet 8012 in the power rod 7 are in a coaxial facing state; before the separation rod 805 and the power rod 7 reach synchronous rotation, the power rod 7 drives the twelve unlocking permanent magnets 8012 to rotate, and the separation rod 805 remains stationary. The unlocking electromagnet 8019 coil on the separation rod 805 will temporarily serve as an induction coil, and detect the magnetic field changes of the twelve unlocking permanent magnets 8012 through electromagnetic induction, and capture the position signal of each unlocking permanent magnet 8012 in real time; until the separation rod 805 and the power rod 7 rotate completely synchronously, the twelve unlocking electromagnets 8019 can accurately determine their corresponding unlocking permanent magnets 8012 based on the position signal sensed in the early stage, and complete the alignment recognition.

[0031] The blade emergency control system will also continuously monitor whether the blade 10 rotates smoothly along the first annular slide 802 and the second annular slide 803; when the blade 10 breaks, the broken part will slide on the first annular slide 802 and eventually move to the second annular slide 803; since the broken blade 10 is subjected to uneven force, part of the force of the blade 10 will be applied to the second annular slide 803, causing the second annular slide 803 to move vertically downward in the sliding ring 801; this displacement drives the separation permanent magnet 8016 to move downward synchronously, and when the separation permanent magnet 8016 approaches the separation electromagnet 8017 which is in the power-off state, the coil in the separation electromagnet 8017 will act as a temporary induction coil, detect the magnetic field change and generate a trigger signal; the trigger signal is used to activate the separation electromagnet 8017 on the one hand, and on the other hand to trigger the unlocking electromagnet 8019 corresponding to the top of the second annular slide 803.

[0032] The separation permanent magnet 8016 and the separation electromagnet 8017 have opposite poles at their opposite ends. When the separation electromagnet 8017 is activated, it will immediately attract the separation permanent magnet 8016 and drive the second annular slide 803 to completely enter the slide ring 801. At the same time, the unlocking electromagnet 8019 will attract the unlocking permanent magnet 8012, so that the unlocking permanent magnet 8012 drives the extension rod 8013 and the separation clamp 804 to move upward, thereby separating the separation clamp 804 from the separation slot 1002 of the blade 10. The broken blade 10 is no longer constrained by the second annular slide 803 and the separation clamp 804, and is thrown out from the notch of the second annular slide 803 under the action of centrifugal force. ; After the broken blade 10 is thrown out, the separation electromagnet 8017 and the unlocking electromagnet 8019 are immediately powered off and stop working; the separation spring 8015 releases the preload force, pushing the second annular slide 803 to return upward along the sliding ring 801 to its initial position; at the same time, the unlocking spring 8014 drives the extension rod 8013 and the separation clamp 804 to return downward; as the propeller continues to rotate, the remaining blades 10 will pass through the second annular slide 803 in turn: if other broken blades 10 pass through later, the blade emergency control system will repeat the above separation process; and the normal blade 10 can pass through the second annular slide 803 smoothly due to balanced force and continue to participate in lift output.

[0033] After the broken blade 10 is thrown out, the blade emergency control system readjusts the remaining blades 10 to the same angle position: the blade 10 preceding the broken blade 10 is used as the base reference object and fixed in position, and the blade 10 following the broken blade 10 is set as the first angle adjustment object; the unlocking electromagnet 8019 between the base reference blade 10 and the angle adjustment object blade 10 is activated to retract the corresponding separation clamp 804 into the power hole 701, leaving only the reserved separation clamp 804. At this time, the separation slot 1002 of the angle adjustment object blade 10 is aligned with the reserved separation clamp 804.

[0034] When the dual-axis motor 6 slows down instantaneously, the blade 10 of the angle adjustment object slides on the first annular slide 802 and the second annular slide 803 due to inertia until the first separation slot 1002 of the blade 10 of the angle adjustment object is engaged with the reserved separation clamping head 804; the dislocation inclined surfaces 1004 on both sides of the blade 10 of the angle adjustment object will contact the reserved separation clamping head 804 and guide the dislocation. After the separation clamping head 804 elastically retracts to the power hole 701 under the action of the separation spring 8015, it is elastically pushed by the separation spring 8015 to be clamped into the separation slot 1002.

[0035] After positioning is completed, the blade 10 of the angle adjustment object becomes the new reference object, and the next blade 10 behind is adjusted in angle in turn according to the above method until the angle distribution of all remaining blades is completed; through this process, the blades 10 on the propeller achieve rotational balance, ensuring the overall lift balance of the drone, maintaining normal flight status and returning smoothly.

[0036] A control method for a sanitation inspection drone comprises the following steps: Step 1: synchronously collect the angular velocity data of the gyroscope and the linear acceleration data of the accelerometer, perform real-time fusion processing on the two types of data, dynamically update the flight attitude estimation value and output an abnormal attitude fluctuation signal; Step 2: Receive the abnormal attitude fluctuation signal output from step 1, monitor the magnetic field intensity distribution between the separation permanent magnet 8016 and the separation electromagnet 8017 in real time, identify the magnetic field mutation position by calculating the magnetic field intensity gradient vector, and locate the broken blade 10 and the fracture position based on the spatial mapping relationship between the mutation position and the blade 10; Step 3: When a sudden change in lift caused by a blade 10 break is identified in step 2, a target separation instruction set is generated according to the break location, and an emergency response mechanism in the power cylinder 5 of the corresponding blade 10 is activated; Step 4, in response to the separation instruction set generated in step 3, execute the following in sequence: The unlocking electromagnet 8019 at the corresponding position of the broken blade 10 is driven to generate an attractive magnetic field, forcing the unlocking permanent magnet 8012 to drive the separation clamp 804 to retract into the power hole 701, thereby releasing the lock of the propeller seat 1001; Start the separation electromagnet 8017 to attract the separation permanent magnet 8016, driving the second annular slide 803 to retract toward the inside of the sliding ring 801; The broken blade 10 is thrown away from the machine body through the notch of the second annular slide 803 by the centrifugal force of the dual-axis motor 6; Step 5: Based on the distribution of the remaining blades 10 after the broken blades 10 are thrown out in step 4, execute: Control the separation clamp 804 to remain in the retracted state to reserve space for angle adjustment; reduce the speed of the dual-axis motor 6 to allow the blade 10 to be adjusted to slide along the first annular slide 802; after guiding the blade seat 1001 to slide to the target angle through the offset inclined surface 1004, the separation clamp 804 rebounds and is clamped into the separation slot 1002; restore the speed of the dual-axis motor 6 and adjust the pitch of the blade 10 to achieve lift balance reconstruction of the remaining blades 10.

[0037] Step 4 includes: Step 41, receiving the position signal of the broken blade 10 output in step 2, performing time-frequency domain analysis on the magnetic field intensity sampling sequence of the separation permanent magnet 8016 corresponding to the target blade 10, and extracting the amplitude characteristics and time series coordinates of the magnetic field intensity gradient mutation point; Step 42: Generate a synchronous control pulse according to the timing coordinates determined in step 41, and send an activation instruction to the unlocking electromagnet 8019 and the separating electromagnet 8017 in the power cylinder 5 where the broken blade 10 is located; Step 43, responding to the activation instruction of step 42: The separation electromagnet 8017 is energized to generate a strong attraction force, which attracts the separation permanent magnet 8016 and drives the second annular slide 803 to move axially downward along the slide ring 801. The separation spring 8015 is compressed, causing the second annular slide 803 to radially contract to the inside of the slide ring 801. The second annular slide 803 contracts to form a gap in the ejection channel, and the separation lever 805 is simultaneously rotated to align the unlocking hole 8018 with the power hole 701. Step 44, following the alignment state of the unlocking hole 8018 formed in step 43: When unlocking electromagnet 8019 is energized, it generates an attractive magnetic field, pushing unlocking permanent magnet 8012 upward along unlocking hole 8018. Unlocking permanent magnet 8012 pulls separation clamp 804 out of separation clamping slot 1002 of paddle seat 1001 via extension rod 8013, and compresses unlocking spring 8014 to completely retract it into power hole 701. After being unlocked, paddle seat 1001 maintains sliding contact with first annular slide 802 via sliding slot 1003. Step 45, based on the unlocking state of the blade 10 completed in step 44: The continuous rotation of the dual-axis motor 6 generates centrifugal force, pushing the broken blade 10 to slide outward along the gap formed by the contraction of the second annular slide 803; after the propeller seat 1001 detaches from the first annular slide 802, the broken blade 10 is thrown away from the body along the tangential direction of the power cylinder 5.

[0038] Step 5 includes: Step 51: Receive the signal outputted from step 45 that the broken blade 10 is thrown away. Based on the position record of the blade 10 before the break and the current distribution state of the remaining blades 10: The normal blade 10 preceding the broken blade 10 is used as the angle reference zero point; the theoretical optimal distribution angle range is calculated based on the number of remaining blades 10; Step 52, according to the target angle interval determined in step 51: The unlocking electromagnet 8019 corresponding to the blade to be adjusted 10 is controlled to remain energized, so that the separation clamp 804 remains retracted into the power hole 701; the propeller seat 1001 is slidably connected to the first annular slide 802 through the sliding groove 1003; Step 53, in response to the sliding connection state established in step 52: The speed of the dual-axis motor 6 is reduced to a preset safety threshold to reduce the centrifugal restraining force; the blade 10 to be adjusted slides circumferentially along the first annular slide 802 under the action of inertia, while the second annular slide 803 expands radially under the action of the separation spring 8015 to form a slide rail; during the sliding of the blade seat 1001, the offset inclined surfaces 1004 on both sides contact the end of the separation clamp 804 to generate a guiding component force; Step 54, based on the inclined surface contact state: When the propeller seat 1001 slides into the target angle range, the offset slope 1004 continuously presses the separation clamp 804 into the power hole 701; the current of the unlocking electromagnet 8019 is cut off, and the unlocking spring 8014 pushes the separation clamp 804 out of the power hole 701; the separation clamp 804 is accurately snapped into the separation slot 1002 after the propeller seat 1001 slides into place; Step 55 , following the locking completion state, the dual-axis motor 6 is restored to the rated speed; and the pitch of the blades 10 is adjusted to compensate for the lift loss.

[0039] Step 51 implements differentiated strategies for different fault scenarios, including: When a single blade 10 breaks: Calculate the target positions of the remaining three blades 10 divided equally into 120° with reference to the reference zero point; control the three blades 10 to be adjusted to synchronously execute steps 52 to 54; When the double blades 10 break continuously: Determine the geometric symmetry axis of the remaining two blades 10; adjust the two blades 10 to a 180° symmetrical position on both sides of the axis; and double the pitch compensation amount when executing step 55; When the double blade 10 breaks apart: Maintaining the naturally formed 180° distribution of the remaining two blades 10; dynamically adjusting the pitch of blade 10 using an incremental PID algorithm to compensate for lift loss; When the three blades 10 break: The barometer altitude data and the current value of the dual-axis motor 6 are collected in real time; the real-time ratio K of the remaining single blade 10 lift and the total weight of the aircraft is calculated; when K is less than 1.2, the emergency return protocol is triggered.

[0040] Example 1, as Figure 12 As shown, the inspection drone of the present invention adopts a four-propeller layout, each propeller has four blades 10. When one of the four blades 10 breaks, the blade emergency control system maintains flight stability and achieves safe return through the following process: The blade emergency control system simultaneously starts attitude detection and emergency control. The angular velocity data collected by the gyroscope and the linear acceleration data collected by the accelerometer are processed by the Kalman filter fusion algorithm to confirm the broken state of the blade 10; the broken blade 10 slides on the first annular slide 802 due to uneven force and moves to the second annular slide 803. The broken blade 10 pushes the second annular slide 803 to move vertically downward in the sliding ring 801, and the second annular slide 803 drives the separation permanent magnet 8016 to move downward synchronously.

[0041] The separation electromagnet 8017 detects the change in magnetic field intensity of the separation permanent magnet 8016 through the magnetic flux gradient recognition algorithm and activates it. The separation electromagnet 8017 generates an attractive magnetic field to attract the separation permanent magnet 8016, and the separation permanent magnet 8016 drives the second annular slide 803 to completely enter the sliding ring 801; at the same time, the unlocking electromagnet 8019 corresponding to the top of the second annular slide 803 is started, and the unlocking electromagnet 8019 generates an attractive magnetic field to attract the unlocking permanent magnet 8012. The unlocking permanent magnet 8012 drives the extension rod 8013 and the separation clamp 804 to move upward, and the separation clamp 804 disengages from the separation slot 1002 of the broken blade 10.

[0042] The broken blade 10 is thrown out from the notch of the second annular slide 803 under the action of the centrifugal force generated by the rotation of the dual-axis motor 6; after the broken blade 10 is thrown out, the separation electromagnet 8017 and the unlocking electromagnet 8019 are immediately powered off, and the separation spring 8015 releases the pre-tightening force to push the second annular slide 803 upward along the sliding ring 801 to return to the initial position, and the unlocking spring 8014 drives the extension rod 8013 and the separation clamp 804 to return to the initial position downward.

[0043] The normal blade 10 before the broken blade 10 is used as the reference blade 10 and fixed in position, and the blade 10 after the broken blade 10 is set as the first angle adjustment object; the unlocking electromagnet 8019 between the reference blade 10 and the angle adjustment object blade 10 is started, and the corresponding separation clamp 804 is retracted into the power hole 701 of the power rod 7, leaving only the separation clamp 804 with the reserved positioning. At this time, the separation slot 1002 of the angle adjustment object blade 10 is aligned with the separation clamp 804 with the reserved positioning.

[0044] The dual-axis motor 6 achieves instantaneous speed reduction through a speed closed-loop control algorithm, and the blade 10 of the angle adjustment object slides on the first annular slide 802 and the second annular slide 803 due to inertia until the first separation slot 1002 of the blade 10 of the angle adjustment object is engaged with the reserved separation clamping head 804; the dislocation inclined surfaces 1004 on both sides of the blade 10 of the angle adjustment object contact the reserved separation clamping head 804 and guide the dislocation, and the separation clamping head 804 elastically retracts to the power hole 701 under the action of the unlocking spring 8014, and is then elastically pushed by the unlocking spring 8014 to be clamped into the separation slot 1002.

[0045] After the blade 10 of the first angle adjustment object is engaged, it becomes the new baseline reference blade 10, and the next blade 10 behind it is adjusted in angle in sequence according to the above method: the unlocking electromagnet 8019 between the current baseline reference blade 10 and the next angle adjustment object blade 10 is started, and the corresponding separation clamp 804 is retracted into the power hole 701. The dual-axis motor 6 briefly slows down to allow the blade 10 of the next angle adjustment object to glide by inertia until the separation slot 1002 is engaged with the reserved separation clamp 804, until all the remaining three blades 10 complete the angle distribution.

[0046] Finally, the angle distribution sub-algorithm is used to make the three blades 10 distributed at an equal angle of 120°; the blade emergency control system drives the three blades 10 to adjust the pitch angle through the pitch optimization module, optimizes the force posture of the three blades 10, and restores the propeller lift distribution corresponding to the power cylinder 5 to a balanced state; the single propeller lift is compensated by the uniform force of the three blades 10, thereby maintaining the overall flight posture of the patrol drone stable and achieving safe return.

[0047] Example 2, as Figure 13 As shown, the inspection drone of the present invention adopts a four-propeller layout, each propeller has four blades 10. When two of the four blades 10 are broken, the two consecutive broken blades 10 slide on the first annular slide 802 and move to the second annular slide 803: The first broken blade 10 pushes the second annular slide 803 to move downward in the sliding ring 801, and the second annular slide 803 drives the separation permanent magnet 8016 to move downward synchronously; the separation electromagnet 8017 is activated after detecting the change in the magnetic field, and the separation electromagnet 8017 attracts the separation permanent magnet 8016 to drive the second annular slide 803 into the sliding ring 801; at the same time, the unlocking electromagnet 8019 at the corresponding position is started, and the unlocking electromagnet 8019 attracts the unlocking permanent magnet 8012 to drive the separation clamp 804 to disengage from the separation clamping slot 1002 of the first broken blade 10; the first broken blade 10 is thrown out from the gap of the second annular slide 803 under the action of the centrifugal force of the dual-axis motor 6.

[0048] After the first broken blade 10 is thrown out, the separation electromagnet 8017 and the unlocking electromagnet 8019 are powered off, the separation spring 8015 pushes the second annular slide 803 to reset, and the unlocking spring 8014 pushes the separation clamp 804 to reset; then when the second continuously broken blade 10 passes through the second annular slide 803, the second annular slide 803 is pushed down again, and the blade emergency control system captures the magnetic field mutation of the separation permanent magnet 8016 through the magnetic field strength timing analysis algorithm, repeats the above separation process, and throws the second broken blade 10 out from the gap of the second annular slide 803.

[0049] The first normal blade 10 of the two continuously broken blades 10 is taken as the reference blade 10, and the second normal blade 10 of the two continuously broken blades 10 is set as the angle adjustment object; the unlocking electromagnet 8019 between the reference blade 10 and the angle adjustment object blade 10 is started, and the corresponding separation clamp 804 is retracted into the power hole 701, leaving only the reserved separation clamp 804; the dual-axis motor 6 realizes instantaneous speed reduction through the speed closed-loop control algorithm, and the blade 10 of the angle adjustment object slides on the first annular slide 802 due to inertia, and the dislocated inclined surface 1004 of the blade 10 of the angle adjustment object contacts and guides with the reserved separation clamp 804, and the separation clamp 804 elastically expands and contracts under the action of the unlocking spring 8014 and is clamped into the separation slot 1002 of the blade 10 of the angle adjustment object.

[0050] Finally, the remaining two normal blades 10 are adjusted to a 180° symmetrical distribution through the symmetrical positioning algorithm; the blade emergency control system drives the two blades 10 to optimize the pitch angle through the pitch adaptive adjustment algorithm, and compensates for the lift loss by adjusting the force posture of the two blades 10; at the same time, the fuselage 1 control system of the patrol drone coordinates the output power of the propellers corresponding to the other three power cylinders 5, balances the lift changes, ensures the balanced lift distribution of the patrol drone, maintains flight stability and returns safely.

[0051] When two blades 10 are broken at intervals, the two broken blades 10 pass through the second annular slide 803 respectively: The first broken blade 10 pushes the second annular slide 803 to move downward in the sliding ring 801, and the second annular slide 803 drives the separation permanent magnet 8016 to move synchronously; the separation electromagnet 8017 detects the magnetic field change through the magnetic flux gradient recognition algorithm and activates, and the separation electromagnet 8017 attracts the separation permanent magnet 8016 to drive the second annular slide 803 into the sliding ring 801; the unlocking electromagnet 8019 at the corresponding position is started, and the unlocking electromagnet 8019 attracts the unlocking permanent magnet 8012 to drive the separation clamp 804 to disengage from the separation slot 1002 of the first broken blade 10; the first broken blade 10 is thrown out from the gap of the second annular slide 803 under the action of the centrifugal force of the dual-axis motor 6; then the separation electromagnet 8017 and the unlocking electromagnet 8019 are powered off, the second annular slide 803 is reset under the action of the separation spring 8015, and the separation clamp 804 is reset under the action of the unlocking spring 8014.

[0052] When the second spaced broken blade 10 passes through the second annular slide 803, the second annular slide 803 is pushed down again, and the blade emergency control system repeats the above separation process to throw the second broken blade 10 out of the gap of the second annular slide 803; during this period, the normal blade 10 can smoothly pass through the first annular slide 802 and the second annular slide 803 due to balanced force and continue to participate in lift output.

[0053] Since the two broken blades 10 are distributed at 180° intervals, the remaining two normal blades 10 naturally form a 180° symmetrical distribution, and the multi-state decision tree algorithm determines that no additional angle adjustment is required; the blade emergency control system directly drives the remaining two normal blades 10 to optimize the pitch angle through the pitch adaptive adjustment algorithm, and uses the natural symmetrical force posture of the two blades 10 to restore the propeller lift balance corresponding to the power cylinder 5; the fuselage 1 control system of the patrol drone synchronously monitors the propeller status corresponding to the other three power cylinders 5, and compensates for the lift change by fine-tuning the power output of the dual-axis motor 6, ensuring that the flight posture of the entire patrol drone is stable, and ultimately achieving a safe return.

[0054] Example 3: The inspection drone of the present invention adopts a four-propeller layout, each propeller has four blades 10. When three of the four blades 10 are broken, the angular velocity data collected by the built-in gyroscope of the inspection drone and the linear acceleration data collected by the accelerometer are processed by the Kalman filter fusion algorithm to quickly detect severe posture abnormalities and sudden drops in lift; the blade emergency control system calculates the real-time ratio K of the remaining lift to the entire gravity of the inspection drone through a state evaluation sub-algorithm, where K is the ratio of the lift generated by the remaining blade 10 to the entire gravity of the inspection drone.

[0055] The blade emergency control system confirmed that three blades 10 were broken, and the lift of the remaining blade 10 could not be effectively compensated by angle adjustment or pitch optimization; the interference of the remaining parts of the three broken blades 10 on the flight attitude exceeded the adjustment range, and the system determined that there was no need to execute the separation and ejection process of the broken blade 10 and the power structure such as the power rod 7.

[0056] The patrol drone's fuselage 1 control system activates a preset emergency response plan and flies to the preset return point along the shortest path; it continuously monitors the patrol drone's attitude changes through the Kalman filter fusion algorithm, giving priority to ensuring that the patrol drone's flight attitude is temporarily stable, thereby buying time for a safe forced landing or return.

[0057] When the inspection drone is in normal flight, the dual-axis motor 6 drives the power rod 7 to rotate, while the separation rod 805 remains stationary through the cooperation between the synchronization column 902 and the anti-rotation groove 905; the twelve unlocking electromagnets 8019 on the separation rod 805 act as induction coils to monitor the magnetic fluctuations of the corresponding unlocking permanent magnets 8012 on the power rod 7 in real time; since the magnetic field strengths of the twelve unlocking permanent magnets 8012 are gradient distributed and different from each other, when the power rod 7 rotates, each unlocking electromagnet 8019 will periodically cut magnetic lines of force of different intensities, generating an induced electromotive force of a specific frequency and amplitude; the blade emergency control system accurately calculates the real-time position and motion trajectory of each unlocking permanent magnet 8012 by analyzing the changing rules of these electromotive force signals, determines the angular position of each unlocking permanent magnet 8012, and provides an accurate position reference for subsequent emergency response.

[0058] A sanitation inspection drone usually operates in sparsely populated areas. The blade emergency control system is linked with the inspection camera 4 to realize intelligent safety control: when the inspection camera 4 detects that there are people in the area, the system will first calculate the flight trajectory angle of the proposed blade 10, evaluate whether there is a risk of injury, and execute the blade 10 throwing operation only when it is confirmed to be safe; if it detects that there are dense people, the system will immediately terminate the blade 10 throwing process and initiate the emergency landing procedure to avoid safety hazards; when it detects that there are no people active in the operation area, the system completes the separation and throwing of the broken blade 10 according to the conventional process to ensure that the flight stability is not affected.

[0059] When installing a new blade 10, first press the sliding ring 801 downward, and the sliding ring 801 moves down along the connecting rod 809 to the top of the movable cylinder 806; at this time, the connecting rod 809 simultaneously presses down the movable sliding ring 807 and compresses the movable spring 808, and a gap is formed between the sliding ring 801 and the separation clamp 804 to accommodate the propeller seat 1001; align the sliding groove 1003 of the new blade 10 with the first annular slide 802 and the second annular slide 803, and adjust the position so that the propeller seat 1001 is roughly aligned with the separation clamp 804, and then release the sliding ring 801; the movable spring 808 releases the elastic force, driving the movable sliding ring 807, the connecting rod 809 and the sliding ring 801 to reset upward; if the new blade 10 is not completely aligned with the separation clamp 804, gently swing the blade 10 to guide the separation clamp 1002 so that the separation clamp 804 is accurately inserted into the separation clamp 1002 to complete the installation.

[0060] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A sanitation inspection drone, comprising: The fuselage and the propeller arms are fixed on the four sides of the fuselage, the landing gear is fixed under the fuselage, and the inspection camera is fixed under the fuselage. It is characterized by further comprising: A power cylinder is fixed to the end of the propeller arm away from the fuselage; a dual-axis motor is fixed in the power cylinder; a power rod is fixed to the rotating shaft above the dual-axis motor; a separator is fixed to the power cylinder; a synchronous rotating member is slidably set on the separator; four propeller blades are provided on the same dual-axis motor, the four propeller blades are arranged at equal angles, and the four propeller blades are all slidably set on the separator; The power holes are opened on the power rod, and there are twelve power holes opened at equal angles on the same power rod; The sliding ring is rotatably sleeved on the power rod; the first annular slide is fixed on the sliding ring at the bottom; the second annular slide has a base slidably inserted in the sliding ring; twelve separation clamps are arranged at equal angles on the same power rod, and the twelve separation clamps are respectively slidably set in the power holes; the separation rod is rotatably inserted in the power rod and rotatably inserted in the rotating shaft of the dual-axis motor; The propeller seat is fixed on the propeller blade and is located between the power rod and the sliding ring; the separation slot is opened above the propeller seat, and three separation slots are opened on the same propeller seat, and the opening angles of the three separation slots match the separation clamp head; the sliding groove is opened below the propeller seat; the staggered inclined surface is opened on both sides of the same propeller seat.

2. The sanitation inspection drone according to claim 1, characterized in that: The separator further comprises: The movable cylinder is fixed on the power cylinder at the bottom and is rotatably sleeved on the power rod; the movable slip ring is slidably arranged in the movable cylinder; the movable spring is fixed on the inner bottom of the movable cylinder at one end and fixed on the movable slip ring at the other end; the connecting rod is fixed on the top of the movable slip ring and the other end is fixed on the bottom of the sliding ring; the limiting ring is fixed in the power hole and slidably sleeved on the separation clamp; the spring seat is fixed in the power hole and is located directly above the limiting ring; the unlocking permanent magnet is slidably arranged in the power hole and is located directly above the separation clamp; the extension rod is fixed on the separation clamp at one end and fixed on the unlocking permanent magnet at the other end; the unlocking spring is sleeved on the extension rod, one end is fixed on the separation clamp and the other end is fixed on the spring seat.

3. The sanitation inspection drone according to claim 2, characterized in that: The separator further comprises: A separation spring, one end of which is fixed in the sliding ring and the other end is fixed to the second annular slide; a separation permanent magnet, which is fixed below the second annular slide; a separation electromagnet, which is fixed to the inner bottom of the sliding ring and is located directly below the separation permanent magnet; an unlocking hole, which is opened on the separation rod and is located at equal angles on the same separation rod; twelve unlocking electromagnets, which are respectively fixed to the unlocking holes.

4. The sanitation inspection drone according to claim 1, characterized in that: The synchronous transfer element comprises: The synchronous groove is opened below the separation rod; the synchronous column is slidably inserted in the synchronous groove; the first synchronous cylinder is fixed on the synchronous column; and the second synchronous cylinder is fixed on the rotating shaft below the dual-axis motor.

5. The sanitation inspection drone according to claim 4, characterized in that: The synchronous transfer element further comprises: The anti-rotation groove is opened at the inner bottom of the power cylinder; the anti-rotation spring has one end fixed in the synchronous groove and the other end fixed on the synchronous column; the synchronous electromagnet is fixed in the synchronous groove; the synchronous permanent magnet is embedded above the synchronous column and is located directly below the synchronous electromagnet.

6. The sanitation inspection drone according to claim 1, characterized in that: Also includes: The front-view camera is rotatably mounted on the front of the fuselage. The searchlight is fixed on the front of the fuselage. Power supply module, fixed in the separation rod.

7. A control method for a sanitation inspection drone according to any one of claims 1 to 6, characterized in that: The following steps are involved: Step 1: synchronously collect the angular velocity data of the gyroscope and the linear acceleration data of the accelerometer, perform real-time fusion processing on the two types of data, dynamically update the flight attitude estimation value and output an abnormal attitude fluctuation signal; Step 2: Receive the abnormal attitude fluctuation signal output from step 1, monitor the magnetic field intensity distribution between the separation permanent magnet and the separation electromagnet in real time, identify the magnetic field mutation position by calculating the magnetic field intensity gradient vector, and locate the broken blade and the fracture position based on the spatial mapping relationship between the mutation position and the blade; Step 3: When a sudden change in lift caused by a blade break is identified in step 2, a target separation instruction set is generated according to the break location, and an emergency response mechanism in the corresponding blade power cylinder is activated; Step 4, in response to the separation instruction set generated in step 3, execute the following in sequence: The unlocking electromagnet at the corresponding position of the broken blade is driven to generate an attractive magnetic field, forcing the unlocking permanent magnet to drive the separation clamp to retract into the power hole, thereby releasing the propeller seat lock; Start the separation electromagnet to attract the separation permanent magnet, driving the second annular slide to retract toward the inside of the slide ring; The broken blade is thrown away from the machine body through the notch of the second annular slide by using the centrifugal force of the dual-axis motor; Step 5: Based on the distribution of the remaining blades after the broken blades are thrown out in step 4, execute: The separation clamp is controlled to remain in a retracted state to reserve space for angle adjustment; the speed of the dual-axis motor is reduced to allow the blade to be adjusted to slide along the first annular slide; after guiding the blade seat to slide to the target angle through the offset inclined surface, the separation clamp rebounds and is clamped into the separation slot; the motor speed is restored and the pitch is adjusted to achieve lift balance reconstruction of the remaining blades.

8. The control method of a sanitation inspection drone according to claim 7, characterized in that: Step 4 includes: Step 41: Receive the broken blade position signal output in step 2, perform time-frequency domain analysis on the separation permanent magnet magnetic field intensity sampling sequence corresponding to the target blade, and extract the amplitude characteristics and time series coordinates of the magnetic field intensity gradient mutation point; Step 42: Generate a synchronous control pulse according to the timing coordinates determined in step 41, and send an activation instruction to the unlocking electromagnet and the separation electromagnet in the power cylinder where the broken blade is located; Step 43, responding to the activation instruction of step 42: The separation electromagnet generates a strong attraction force when it is energized. The separation permanent magnet drives the second annular slide to move downward along the axial direction of the slide ring. The separation spring is compressed to cause the second annular slide to contract radially to the inside of the slide ring. The second annular slide contracts to form a gap in the throw-off channel. At the same time, the separation lever is linked to rotate so that the unlocking hole is aligned with the power hole. Step 44, following the unlocking hole alignment state formed in step 43: The unlocking electromagnet is energized to generate an attractive magnetic field, pushing the unlocking permanent magnet upward along the unlocking hole; the unlocking permanent magnet pulls the separation clamp out of the separation clamping slot of the propeller seat through the extension rod, and compresses the unlocking spring to make it completely retract into the power hole; after the propeller seat is unlocked, it maintains sliding contact with the first annular slide through the sliding groove; Step 45, based on the unlocked state of the propellers completed in step 44: The continuous rotation of the dual-axis motor generates centrifugal force, pushing the broken blade to slide outward along the gap formed by the contraction of the second annular slide; after the propeller seat detaches from the first annular slide, the broken blade is thrown away from the fuselage along the tangential direction of the power cylinder.

9. The control method of a sanitation inspection drone according to claim 8, characterized in that: Step 5 includes: Step 51: Receive the broken blade separation signal output in step 45, and based on the position record of the blade before the break and the current distribution status of the remaining blades: The normal blade preceding the broken blade is used as the angle reference zero point; the theoretical optimal distribution angle range is calculated based on the number of remaining blades; Step 52, according to the target angle interval determined in step 51: The unlocking electromagnet corresponding to the blade to be adjusted is controlled to remain in an energized state, so that the separation clamp remains retracted into the power hole; the propeller seat is slidably connected to the first annular slide through the sliding groove; Step 53, in response to the sliding connection state established in step 52: The speed of the dual-axis motor is reduced to a preset safety threshold to reduce the centrifugal constraint force. The blade to be adjusted slides circumferentially along the first annular slide under the action of inertia, while the second annular slide expands radially to form a slide rail under the action of the separation spring. During the sliding of the blade seat, the offset inclined surfaces on both sides contact the end of the separation clamp to generate a guiding force. Step 54, based on the inclined surface contact state: When the propeller seat slides into the target angle range, the offset bevel continuously presses the separation clamp into the power hole; the unlocking electromagnet current is cut off, and the unlocking spring pushes the separation clamp out of the power hole; the separation clamp accurately snaps into the separation slot after the propeller seat slides into place; Step 55: Following the locking completion state, the dual-axis motors are restored to the rated speed; and the blade pitches are adjusted to compensate for the lift loss.

10. The control method of a sanitation inspection drone according to claim 9, characterized in that: Step 51 implements differentiated strategies for different fault scenarios, including: When a single blade breaks: Calculate the target positions of the remaining three blades divided equally into 120° with the reference zero point as a reference; control the three blades to be adjusted to synchronously execute steps 52 to 54; When the two propeller blades break continuously: Determine the geometric symmetry axis of the remaining two propeller blades; adjust the two propeller blades to a 180° symmetrical position on both sides of the axis; and double the pitch compensation amount when executing step 55; When the double blade spacer breaks: Maintaining the naturally formed 180° distribution of the remaining two blades; using an incremental PID algorithm to dynamically adjust the blade pitch to compensate for lift loss; When three blades break: Collect barometer altitude data and motor current values ​​in real time; calculate the real-time ratio K of the remaining single blade lift to the entire aircraft gravity; trigger the emergency return protocol when K is less than 1.2.

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