Four-rotor aircraft carrying various sensors

Abstract

The invention discloses a four-rotor aircraft carrying various sensors, which comprises an airborne platform which is used as a core bearing unit, integrates and supports power required by flight of the aircraft, controls basic components and provides a stable mounting foundation for each device, and further comprises a plurality of sensors which are fixedly mounted at the highest position of the airborne platform, the laser radar equipment is used for acquiring unshielded three-dimensional environment data; the edge computing equipment is fixedly arranged between the airborne platform and the laser radar equipment and is used for realizing data real-time processing and decision output; the visual equipment is fixedly mounted below the front side of the airborne platform and focuses on collecting front and lower image information; the beneficial effects of the invention are that through cooperative carrying and data fusion of multiple sensors, the aircraft can efficiently complete three-dimensional modeling and dynamic detection of the surrounding environment while accurately sensing the flight state of the aircraft, thereby providing stable and reliable technical support for scientific research teams to carry out low-altitude economy related exploration; and diversified scientific research and application requirements are met.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, specifically relating to a quadcopter equipped with multiple sensors. Background Technology

[0003] Based on their core lift generation mechanisms, drones are mainly divided into two categories: fixed-wing and rotary-powered, forming a complementary application pattern. Fixed-wing drones generate lift based on the aerodynamic principles of their wings, possessing advantages such as simple structure, low energy consumption, long range, and strong payload capacity. They are irreplaceable in wide-area scenarios such as cross-regional material transportation, large-scale terrain mapping, and long-term aerial monitoring, and have long dominated the mid-to-high-altitude operation market. However, due to the limitations of their flight principles, fixed-wing drones require long runways for takeoff and landing, and cannot perform vertical takeoff and landing or hovering maneuvers. They lack flexibility in complex low-altitude environments such as urban blocks, narrow valleys, and dense building clusters, making it difficult to meet the needs of precision operations and close-range detection. In contrast, quadcopter, hexacopter, and other multi-rotor drones, through the coordinated control of multiple rotors, can flexibly achieve vertical takeoff and landing, hovering, and precise turning. They have extremely strong environmental adaptability and operational flexibility, becoming core equipment for the implementation of urban low-altitude economic applications, and are especially suitable for various operational tasks in complex low-altitude environments.

[0004] Despite the promising application prospects of multi-rotor drones, they face significant development bottlenecks in the scientific research field. Most mainstream quadcopter and multi-rotor drones on the market are positioned for the consumer or low-end industrial markets, with "low cost, standardization, and versatility" as their core design goals. Their hardware structures often employ integrated packaging designs, resulting in insufficient openness of core component parameters and closed key interfaces. Furthermore, their software algorithms are mostly commercial closed-source versions, preventing users from accessing the underlying code and algorithm logic. This makes in-depth analysis, core parameter debugging, functional expansion, and secondary development difficult. Such products can only meet basic needs such as general consumer entertainment and simple inspection and mapping, and are completely unsuitable for the research needs of universities and research institutions in cutting-edge scientific research fields such as drone flight control algorithm optimization, multi-drone collaborative communication technology development, complex environment precise perception and intelligent obstacle avoidance technology breakthroughs, and new rotor structure design and aerodynamic performance optimization.

[0005] More importantly, universities and research institutions, as the source of technological innovation, are the core driving force behind the basic and applied basic research on UAVs, which is crucial for promoting the iterative upgrading of UAV technology, breaking through core technological barriers, and supporting the high-quality development of the low-altitude economy. The "non-research adaptability" of existing low-cost multi-rotor UAVs directly makes it difficult for researchers to obtain research platforms with stable structures, controllable performance, and flexible modification capabilities. A large number of innovative research ideas cannot be effectively prototyped and technically tested. This not only restricts the cultivation of innovative practical abilities and the shaping of research thinking among university students, but also delays my country's breakthrough process in the core technology field of high-end multi-rotor UAVs. This results in a gap between China's high-end UAV core technology research and development and the international advanced level, which is in stark contradiction with the urgent need for high-end UAV technology in the current rapid development of the low-altitude economy. Therefore, developing a quadcopter that is adapted to research needs, has an open structure, can be flexibly modified, and integrates multi-dimensional perception capabilities is the key to solving the above problems and has important practical significance and application value. Summary of the Invention

[0006] The purpose of this invention is to provide a quadcopter equipped with multiple sensors, which solves the problems of existing multi-rotor UAVs having closed hardware structures, insufficient parameter openness, and closed-source software algorithms, making them unable to meet the cutting-edge technology research and development needs of universities and research institutions. This aircraft adopts a modular and open structural design, integrating multiple types of high-precision sensors and real-time data processing units. It can provide a stable, controllable, and modifiable research platform for scientific research activities in complex low-altitude environments, supporting researchers to carry out technical research and prototype verification in multiple fields such as flight control algorithm optimization, multi-sensor data fusion, and complex environment perception and obstacle avoidance, thus meeting diverse scientific research and application needs.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a quadcopter equipped with multiple sensors, including an airborne platform that serves as the core supporting unit, integrating and supporting the power and control components required for flight, and providing a stable mounting foundation for each device; a lidar device fixedly installed at the highest point of the airborne platform for acquiring unobstructed three-dimensional environmental data; an edge computing device fixedly installed between the airborne platform and the lidar device for real-time data processing and decision output; a vision device fixedly installed below the front of the airborne platform for focusing on acquiring image information from the front and below; and an optical flow device fixedly installed at the rear of the airborne platform for accurately detecting flight displacement and attitude changes, assisting the aircraft in autonomous flight and positioning.

[0008] As a preferred technical solution of the present invention, the airborne platform includes an upper central plate disposed at the center of the airframe, providing an installation base for each component. Arms are fixedly installed in four directions on the upper central plate. A power device for providing power for the flight of the aircraft is fixedly installed at the end of each arm. A pneumatic component is installed on each power device, and the pneumatic component works in conjunction with the power device to achieve lift adjustment.

[0009] As a preferred technical solution of the present invention, a propeller protection bracket base plate fixedly connected to the power equipment is provided on the lower side of any one of the booms, a lower edge strip of the propeller protection bracket is fixedly installed between two adjacent propeller protection bracket base plates, an upper plate of the propeller protection bracket is fixedly installed on the top of any one of the propeller protection bracket base plates, and an upper edge strip of the propeller protection bracket is fixedly installed between two adjacent upper plates of the propeller protection bracket.

[0010] As a preferred technical solution of the present invention, a global satellite navigation module for obtaining precise position information of the aircraft is fixedly installed horizontally upward at the top of the upper layer of the center plate, a lower layer of the center plate is fixedly installed at the bottom of the upper layer of the center plate, and a flight controller for receiving control signals and driving the power equipment to complete attitude adjustment is fixedly installed at the bottom of the lower layer of the center plate.

[0011] As a preferred technical solution of the present invention, two landing gears are fixedly installed at the bottom of any one arm, and a landing gear buffer device for mitigating the impact force during takeoff and landing is fixedly installed at the bottom of any one landing gear. A power support is installed directly below the lower layer of the center plate, and a battery module for providing power support for the operation of the entire aircraft is fixedly installed between the lower layer of the center plate, the flight controller, and the power support.

[0012] As a preferred technical solution of the present invention, the lidar device includes a lidar bracket, a lidar protection device, and a lidar; the lidar bracket is fixedly disposed on the top of the upper layer of the center plate and is used to support the lidar; the lidar protection device is fixedly installed on the top of the lidar bracket and provides protection for the lidar; the lidar is fixedly installed between the lidar bracket and the lidar protection device and is used to collect three-dimensional environmental point cloud data.

[0013] As a preferred technical solution of the present invention, the vision device includes a binocular depth camera bracket and a binocular depth camera; the binocular depth camera bracket is fixedly installed on the upper and lower front sides of the center plate and provides mounting support for the binocular depth camera; the binocular depth camera is fixedly installed on the binocular depth camera bracket and is used to acquire RGB images and depth information in front and below.

[0014] As a preferred technical solution of the present invention, the optical flow device includes an optical flow sensor fixing device, an optical flow sensor, and an optical flow sensor protection device; the optical flow sensor fixing device is fixedly installed on the lower rear side of the upper layer of the center plate; the optical flow sensor is fixedly installed at the bottom of the optical flow sensor fixing device and is used to detect the displacement and attitude changes of the aircraft; the optical flow sensor protection device is fixedly installed at the bottom of the optical flow sensor fixing device and is located outside the optical flow sensor.

[0015] Compared with the prior art, the beneficial effects of the present invention are: The airborne platform, as the core carrier unit, integrates and supports the basic components required for aircraft flight, such as power and control. The lidar equipment is installed at the highest point of the airborne platform to acquire unobstructed 3D environmental data. Edge computing equipment is fixed between the airborne platform and the lidar equipment to achieve real-time data processing and decision output. Vision equipment is deployed below the front of the airborne platform, focusing on acquiring image information from the front and below. Optical flow equipment is fixed at the rear of the airborne platform for accurately detecting flight displacement and attitude changes. Through the collaborative integration and data fusion of multiple sensors, the aircraft can accurately perceive its own flight status while efficiently completing 3D modeling and dynamic detection of the surrounding environment, providing stable and reliable technical support for research teams to conduct low-altitude economic explorations and meeting diverse research and application needs. The flight controller controls the power unit to adjust the attitude of the drone and perform different flight missions. Attached Figure Description

[0016] Figure 1 This is a frontal three-dimensional structural diagram of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention viewed from below. Figure 1 ; Figure 3 This is a frontal three-dimensional structural diagram of the present invention. Figure 2 ; Figure 4 This is a schematic diagram of the three-dimensional structure of the present invention viewed from below. Figure 2 ; Figure 5 This is a schematic diagram of the lidar device structure of the present invention; Figure 6 This is a schematic diagram of the vision device structure of the present invention; Figure 7 This is a schematic diagram of the optical flow device structure of the present invention; Figure 8 This is an exploded view of the optical flow device of the present invention; In the picture: 1. Airborne platform; 2. LiDAR equipment; 3. Edge computing equipment; 4. Vision equipment; 5. Optical flow equipment; 6. Upper center plate; 7. Arm; 8. Power equipment; 9. Pneumatic components; 10. Propeller protection bracket base plate; 11. Lower propeller protection bracket side strip; 12. Propeller protection bracket upper plate; 13. Upper propeller protection bracket side strip; 14. Global satellite navigation module; 15. Lower center plate; 16. Flight controller; 17. Landing gear; 18. Landing gear buffer device; 19. Power supply bracket; 20. Battery module; 21. LiDAR bracket; 22. LiDAR protection device; 23. LiDAR; 24. Binocular depth camera bracket; 25. Binocular depth camera; 26. Optical flow sensor mounting device; 27. Optical flow sensor; 28. Optical flow sensor protection device. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Please see Figures 1 to 8This invention provides a quadcopter equipped with multiple sensors, including an airborne platform 1 that serves as the core supporting unit, integrating and supporting the power and control components required for flight, and providing a stable mounting foundation for various devices. A lidar device 2 for acquiring unobstructed three-dimensional environmental data is fixedly mounted at the highest point of the airborne platform 1. The lidar device 2 includes a lidar bracket 21, a lidar protection device 22, and a lidar 23. The lidar bracket 21 is fixedly mounted on the top of the upper layer 6 of the center plate and supports the lidar 23. The lidar protection device 22 is fixedly mounted on the top of the lidar bracket 21 and protects the lidar 23. The lidar 23 is fixedly mounted between the lidar bracket 21 and the lidar protection device 22 and is used to collect three-dimensional environmental point cloud data. An edge computing device 3 is fixedly mounted between the airborne platform 1 and the lidar device 2 to realize real-time data processing and decision output. A lidar device is fixedly mounted below the front side of the airborne platform 1, focusing on collecting data from the front and lower areas. A visual device 4 for image information; the visual device 4 includes a binocular depth camera bracket 24 and a binocular depth camera 25; the binocular depth camera bracket 24 is fixedly installed on the lower front side of the upper layer 6 of the center plate and provides mounting support for the binocular depth camera 25; the binocular depth camera 25 is fixedly installed on the binocular depth camera bracket 24 and is used to acquire RGB images and depth information in front and below; an optical flow device 5 is fixedly installed at the rear end of the airborne platform 1 and is used to accurately detect flight displacement and attitude changes, assisting the aircraft in autonomous flight and positioning; the optical flow device 5 includes an optical flow sensor fixing device 26, an optical flow sensor 27, and an optical flow sensor protection device 28; the optical flow sensor fixing device 26 is fixedly installed on the lower rear side of the upper layer 6 of the center plate; the optical flow sensor 27 is fixedly installed at the bottom of the optical flow sensor fixing device 26 and is used to detect the displacement and attitude changes of the aircraft; the optical flow sensor protection device 28 is fixedly installed at the bottom of the optical flow sensor fixing device 26 and is located outside the optical flow sensor 27.

[0019] In this embodiment, the airborne platform 1 includes a central plate upper layer 6 located at the center of the aircraft, providing a mounting base for various components, thus improving flight stability. It also provides a unified foundation for the modular installation and disassembly of various components, facilitating component replacement and modification by researchers. Arms 7 are fixedly installed in all four directions of the central plate upper layer 6, ensuring uniform power output and guaranteeing the flexibility and precision of aircraft attitude adjustment. This provides stable hardware support for scientific experiments such as multi-rotor collaborative control and flight attitude optimization. A power unit 8, providing power for aircraft flight, is fixedly installed at the end of each arm 7. An aerodynamic component 9 is installed on each power unit 8, and the aerodynamic component 9 works in conjunction with the power unit 8 to achieve lift adjustment, improving the aircraft's adaptability to different flight states (such as takeoff, hovering, and turning). This provides an adjustable hardware carrier for scientific research tasks such as aerodynamic performance optimization and lift adjustment algorithm development.

[0020] In this embodiment, a propeller protection bracket base plate 10 fixedly connected to the power equipment 8 is provided on the lower side of any one of the arms 7. A lower edge strip 11 of the propeller protection bracket is fixedly installed between two adjacent propeller protection bracket base plates 10, which effectively blocks obstacles below and to the sides, protects the aerodynamic components 9 from collisions, and improves the durability of the aircraft in complex environments. A propeller protection bracket upper plate 12 is fixedly installed on the top of any one of the propeller protection bracket base plates 10. An upper edge strip 13 of the propeller protection bracket is fixedly installed between two adjacent propeller protection bracket upper plates 12, which, together with the upper edge strip, forms a complete protection, realizing all-round protection of the aerodynamic components 9, while enhancing the overall structural strength of the protection bracket and improving the reliability of the protection.

[0021] In this embodiment, a global satellite navigation module 14 for acquiring precise position information of the aircraft is fixedly installed horizontally upward on the top of the upper layer 6 of the center plate. A lower layer 15 of the center plate is fixedly installed at the bottom of the upper layer 6 of the center plate. A flight controller 16 for receiving control signals and driving the power equipment 8 to complete attitude adjustment is fixedly installed at the bottom of the lower layer 15 of the center plate. The bottom installation facilitates heat dissipation and is far away from other high-power components to reduce electromagnetic interference. As the control core, it can accurately respond to commands and drive the power equipment 8, providing a reliable control carrier for the verification and optimization of flight control algorithms and meeting the control accuracy requirements of scientific research scenarios.

[0022] In this embodiment, two landing gears 17 are fixedly installed at the bottom of each arm 7. Each landing gear 17 is fixedly installed at the bottom of a landing gear buffer device 18 to mitigate the impact force during takeoff and landing. This device can effectively absorb the impact force during takeoff and landing, reduce the damage of vibration to the precision components such as sensors and controllers on the airborne platform 1, extend the service life of the equipment, and ensure the stability and continuity of scientific data acquisition. A power supply bracket 19 is installed directly below the lower layer 15 of the center plate. A battery module 20 is fixedly installed between the lower layer 15 of the center plate, the flight controller 16, and the power supply bracket 19 to provide power support for the operation of the entire aircraft, ensuring that each device receives a stable power supply and meeting the power needs of long-term experiments in scientific research scenarios.

[0023] The working principle and usage process of this invention are as follows: In the off-state, the airborne platform 1 is placed on a horizontal ground. At this time, the landing gear buffer device 18 is in full contact with the ground, ensuring that the upper layer 6 of the center plate, the lower layer 15 of the center plate, the lidar bracket 21, and the optical flow sensor fixing device 26 are all in a horizontal state. The four power devices 8 and the aerodynamic components 9 are on the same horizontal plane, laying the foundation for subsequent stable takeoff. The battery module 20 is accurately installed between the lower layer 15 of the center plate, the flight controller 16, and the power bracket 19. The battery module 20 establishes a power connection with the flight controller 16, the power devices 8, the global satellite navigation module 14, the edge computing device 3, the lidar 23, the binocular depth camera 25, and the optical flow sensor 27 through a preset circuit, thus completing the construction of the entire power supply system. Startup and Initialization Phase: The operator sends a power-on command via remote control. Upon receiving the command, the flight controller 16 initiates the initialization program and simultaneously sends start-up signals to all electrical devices. The global satellite navigation module 14 receives satellite signals horizontally upwards, quickly completes positioning initialization, and transmits the aircraft's initial position information to the flight controller 16 and the edge computing device 3. The lidar 23, protected by the lidar bracket 21 and lidar protection device 22, starts up, begins warm-up and calibration to ensure unobstructed scanning of the surrounding environment. The binocular depth camera 25, fixed at a preset angle by the binocular depth camera bracket 24, completes lens calibration after startup and enters image acquisition standby mode. The optical flow sensor 27, protected by the optical flow sensor fixing device 26 and optical flow sensor protection device 28, starts up, calibrates its own detection accuracy, and prepares to acquire aircraft displacement and attitude data. After startup, the edge computing device 3 completes algorithm loading and data interface initialization, establishing data transmission channels with all sensors and the flight controller 16. Takeoff Phase: The operator sends a takeoff command via remote control. The flight controller 16 sends drive signals to the four power units 8 according to the command. The power units 8 drive the aerodynamic components 9 to rotate at high speed to generate lift. During flight, the optical flow sensor 27 detects the vertical altitude change and horizontal displacement of the aircraft in real time and feeds the data back to the flight controller 16. The flight controller 16 combines the position information of the global satellite navigation module 14 to dynamically adjust the output power of the four power units 8 to achieve stable takeoff and altitude control of the aircraft. During this process, the protective structure formed by the propeller protection bracket base plate 10, the lower edge strip 11 of the propeller protection bracket, the upper plate 12 of the propeller protection bracket, and the upper edge strip 13 of the propeller protection bracket effectively prevents the aerodynamic components 9 from colliding with surrounding obstacles. Data Acquisition and Processing Phase: After takeoff, the lidar 23 continuously scans the surrounding environment, acquiring unobstructed 3D point cloud data and transmitting it to the edge computing device 3 in real time; the binocular depth camera 25 simultaneously acquires RGB images and depth information from the front and below, transmitting the image data to the edge computing device 3; the optical flow sensor 27 detects the aircraft's flight displacement and attitude changes, including pitch angle, roll angle, and yaw angle, in real time, transmitting the data to the edge computing device 3 and the flight controller 16; the global satellite navigation module 14 continuously updates the aircraft's position coordinates and flight speed information, feeding it back to the flight controller 16; after receiving the above multi-source data, the edge computing device 3 processes the 3D point cloud data, image data, displacement and attitude data, and position and velocity data in real time using a preset fusion algorithm, completing 3D modeling of the surrounding environment, obstacle identification and localization, and accurate assessment of its own flight status, and transmitting the processed decision commands, such as obstacle avoidance commands and path adjustment commands, to the flight controller 16; Flight control and mission execution phase: Based on the decision instructions from the edge computing device 3 and the operation instructions from the remote controller, the flight controller 16 dynamically adjusts the output power of the four power units 8. By adjusting the speed difference of the power units 8 at the ends of different arms 7, the flight controller 16 achieves actions such as attitude adjustment, direction change, path planning, and obstacle avoidance. For example, when the edge computing device 3 identifies an obstacle ahead through data from the lidar 23 and the binocular depth camera 25, it immediately sends an obstacle avoidance command to the flight controller 16. The flight controller 16 responds quickly, adjusting the power of the corresponding power unit 8 to drive the flight to complete obstacle avoidance actions such as ascent, descent, leftward movement, rightward movement, or turning. In scientific research scenarios, operators can use the open interface of the edge computing device 3 to debug algorithms and perform secondary development of functions, obtain raw data and processing results from various sensors in real time, and carry out related research work such as flight control algorithm optimization and multi-aircraft collaborative technology development. Landing Phase: After the mission is completed, the operator sends a landing command via the remote controller. The flight controller 16, in conjunction with the position information of the global satellite navigation module 14 and the altitude detection data of the optical flow sensor 27, controls the power unit 8 to gradually reduce the output power, allowing the aircraft to descend smoothly. When the landing gear 17 touches the ground, the landing gear buffer device 18 effectively absorbs the impact force of the landing, preventing damage to the fuselage and various equipment due to vibration. After the aircraft comes to a complete stop, the flight controller 16 sends a shutdown signal to each device, sequentially shutting down the lidar 23, the binocular depth camera 25, the optical flow sensor 27, the edge computing device 3, and the power unit 8, and finally shutting down the power supply to the battery module 20, completing the entire flight mission process.

[0024] Although embodiments of the invention have been shown and described (see the detailed description above), it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A quadcopter aircraft carrying multiple sensors, comprising as a core carrying unit, an airborne platform (1) integrating and supporting the power, control basic components required for the aircraft flight, providing a stable installation foundation for each device, characterized in that: Also includes a laser radar device (2) fixedly installed at the highest point of the airborne platform (1) for obtaining unobstructed three-dimensional environment data; an edge computing device (3) fixedly installed between the airborne platform (1) and the laser radar device (2) to realize real-time data processing and decision output; a visual device (4) fixedly installed below the front side of the airborne platform (1) to focus on collecting image information in front and below; and an optical flow device (5) fixedly installed at the rear end of the airborne platform (1) to accurately detect flight displacement and attitude changes, assisting the autonomous flight and positioning of the aircraft.

2. The quadcopter of claim 1, wherein: The airborne platform (1) comprises a center plate upper layer (6) arranged at the center of the machine body and providing a mounting base for each component, four machine arms (7) fixedly installed in four directions of the center plate upper layer (6), a power device (8) fixedly installed at the end of any machine arm (7) to provide power for the flight of the aircraft, and a pneumatic component (9) installed on any power device (8) to realize lift adjustment in cooperation with the power device (8).

3. The quadcopter of claim 2, wherein: The lower side of any machine arm (7) is provided with a propeller protection bracket bottom plate (10) fixedly connected with the power device (8), a propeller protection bracket lower layer edge strip (11) fixedly installed between two adjacent propeller protection bracket bottom plates (10), a propeller protection bracket upper plate (12) fixedly installed on the top of any propeller protection bracket bottom plate (10), and a propeller protection bracket upper layer edge strip (13) fixedly installed between two adjacent propeller protection bracket upper plates (12).

4. The quadcopter of claim 2, wherein: The top of the center plate upper layer (6) is fixedly installed horizontally upward with a global satellite navigation module (14) for obtaining accurate position information of the aircraft, the bottom of the center plate upper layer (6) is fixedly installed with a center plate lower layer (15), and the bottom of the center plate lower layer (15) is fixedly installed with a flight controller (16) for receiving control signals and driving the power device (8) to complete attitude adjustment.

5. The quadcopter of claim 4, wherein: The bottom of any machine arm (7) is fixedly installed with two landing gears (17) as a group, the bottom of any landing gear (17) is fixedly installed with a landing gear buffer device (18) for relieving impact force during take-off and landing of the aircraft, a power supply bracket (19) is installed directly below the center plate lower layer (15), and a battery module (20) for providing power support for the entire aircraft operation is fixedly installed between the center plate lower layer (15), the flight controller (16), and the power supply bracket (19).

6. The quadcopter of claim 2, wherein: The laser radar device (2) comprises a laser radar bracket (21), a laser radar protection device (22), and a laser radar (23); the laser radar bracket (21) is fixedly arranged at the top of the center plate upper layer (6) and used for supporting the laser radar (23); the laser radar protection device (22) is fixedly installed at the top of the laser radar bracket (21) and forms a protection for the laser radar (23); and the laser radar (23) is fixedly installed between the laser radar bracket (21) and the laser radar protection device (22) and used for collecting three-dimensional environment point cloud data.

7. The quadcopter of claim 2, wherein: The visual device (4) comprises a binocular depth camera bracket (24) and a binocular depth camera (25); the binocular depth camera bracket (24) is fixedly installed on the lower front side of the upper layer (6) of the center plate and provides mounting support for the binocular depth camera (25); the binocular depth camera (25) is fixedly installed on the binocular depth camera bracket (24) and is used for collecting RGB images and depth information in front and below.

8. The quadcopter of claim 2, wherein: The optical flow device (5) comprises an optical flow sensor fixing device (26), an optical flow sensor (27) and an optical flow sensor protection device (28); the optical flow sensor fixing device (26) is fixedly installed on the lower rear side of the upper layer (6) of the center plate; the optical flow sensor (27) is fixedly installed on the bottom of the optical flow sensor fixing device (26) and is used for detecting displacement and attitude change of the aircraft; and the optical flow sensor protection device (28) is fixedly installed on the bottom of the optical flow sensor fixing device (26) and is located outside the optical flow sensor (27).

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