An airborne laser projection support

Abstract

The present application relates to the technical field of unmanned aerial vehicle airborne equipment, and more particularly to an airborne laser projection support, which is arranged on the unmanned aerial vehicle body and comprises a fixing seat, a mounting plate, a rotating assembly and an air path execution end, a groove with an opening a on the bottom surface is arranged in the fixing seat, a laser projection device is mounted on the mounting plate and is fitted into the groove, and an opening b is arranged on the end surface of the mounting plate. The present application realizes four degrees of freedom rotation, can turn over and store the device in the groove of the fixing seat in the non-working state, effectively protects the device from external collision and adverse environmental influence, can extend the device out of the fixing seat in the working state, realizes multi-angle projection, and through the air path execution end, negative pressure airflow is applied to the optical window surface in the storage state, effectively sucking and removing the particulate matter attached to the optical window surface, avoiding the projection quality decline caused by the optical window pollution, and prolonging the service life of the optical element.

Description

Technical Field

[0001] This invention relates to the field of airborne equipment technology for unmanned aerial vehicles (UAVs), and more particularly to an airborne laser projection bracket. Background Technology

[0002] The statements herein provide only background information in relation to this invention and do not necessarily constitute prior art.

[0003] With the rapid development of drone technology, drones are increasingly being used in the civilian sector. By mounting laser projectors on the bottom of drones, design outlines, positioning baselines, or identifiable spatial markers can be projected onto the ground or target areas, which has significant application value in scenarios such as construction layout guidance, component assembly positioning, and mixed reality spatial anchor points.

[0004] Currently, during drone operations, the optical window (i.e., the laser emission window) of the onboard laser projection equipment is easily contaminated by suspended particulate matter (such as dust and sand) in the atmosphere, leading to a decrease in projection quality or even damage to optical components. Summary of the Invention

[0005] The purpose of this invention is to address the aforementioned shortcomings by providing an airborne laser projection bracket.

[0006] To solve the above technical problems, the present invention adopts the following technical solution: an airborne laser projection bracket, which is installed on the body of a drone, includes a fixed base and a mounting plate. The fixed base is fixed to the bottom surface of the drone body, and the fixed base is provided with a groove with an opening a on the bottom surface. A laser projection device is installed on the mounting plate and is fitted into the groove. An opening b is provided on the end face of the mounting plate. A rotating component, located on one side of the opening b, is used to rotate the laser projection device in four degrees of freedom and flip it over to store it in the groove. The pneumatic actuator is connected to the top of the mounting plate and is inserted into the groove. The air path actuator is connected to an air source module, which applies negative pressure airflow to the surface of the optical window of the laser projection device in the retracted state to remove particulate matter from the surface of the optical window, and at the same time to dissipate heat from the laser projection device after it has been running.

[0007] Furthermore, the rotating assembly includes a flipping mechanism located on one side of the opening b, and a gimbal mechanism connected to the flipping mechanism and used to drive the laser projection device to perform three-degree-of-freedom rotation.

[0008] Furthermore, the flipping mechanism is connected between the mounting plate and the laser projection device, and the flipping mechanism includes a first drive motor, which is used to drive the laser projection device to rotate relative to the mounting plate around a first axis between a first position and a second position. In the first position, the laser projection device is housed inside the mounting base; in the second position, the laser projection device extends at least partially outside the mounting base.

[0009] Furthermore, the gimbal mechanism is connected between the flipping mechanism and the laser projection device, and the gimbal mechanism includes a second drive motor, a third drive motor, and a fourth drive motor; The second drive motor is used to drive the laser projection device to rotate about the second axis relative to the flipping mechanism, so as to achieve horizontal rotational freedom; The third drive motor is used to drive the laser projection device to rotate about the third axis relative to the flipping mechanism, so as to achieve the roll degree of freedom; The fourth drive motor is used to drive the laser projection device to rotate about the fourth axis relative to the flipping mechanism, so as to achieve pitch freedom. The second axis, the third axis, and the fourth axis intersect each other or are orthogonal to each other.

[0010] Furthermore, the flipping mechanism also includes a hinge seat connected to the mounting plate and located at the opening b. The hinge seat is installed on the side corresponding to the opening b and rotatably connected to the output shaft of the first drive motor. The gimbal mechanism is connected to the hinge seat. The gimbal mechanism further includes an L-shaped connecting arm that rotates on the bottom surface of the hinge seat and is connected to the second drive motor, and a connecting frame located at the end of the L-shaped connecting arm and connected to the third drive motor. The connecting frame has a U-shaped structure and is connected to the laser projection device through the fourth drive motor.

[0011] Furthermore, the air path execution end includes an air path channel arranged around and connected to the three sides of the opening b along the length of the three sides. A dust suction component is provided on the inner surface of one side of the air path channel, and the dust suction component is facing the optical window housed in the fixed base. An airflow outlet is provided on the other side of the air path channel, and the airflow outlet is connected to the air source module. The air source module adopts a negative pressure air source device and is installed on the end face of the fixed base and connected to the outside.

[0012] Furthermore, the laser projection device is provided with a heat dissipation vent at the rear. The air passage is provided with a Venturi section corresponding to the heat dissipation outlet. The Venturi section is provided with a contraction section, a throat section and a diffusion section that are formed and connected to the air passage along the airflow direction. The throat section is provided with multiple negative pressure ports, which are provided corresponding to the heat dissipation outlet.

[0013] Furthermore, the dust collection component includes a dust collection hood facing the optical window, a suction port, a collection chamber, and a filter screen arranged sequentially inside the dust collection hood along the airflow direction. The suction port is located on the end face of the dust collection hood, the collection chamber is located behind the suction port and is located inside the dust collection hood for temporarily collecting particulate matter, and a movable plate is provided on the collection chamber facing the end face of the groove. The filter screen is located at the junction of the collection chamber and the air passage to prevent particulate matter from entering the air passage and flowing along the airflow.

[0014] Furthermore, the opening b is also provided with a closed baffle for moving along the axial direction of the vacuum cleaner. The outer surface of the closed baffle is symmetrically provided with two ear plates. A linear screw and a linear guide are respectively adapted to the two ear plates. A transmission unit connected to the output shaft of the first drive motor is provided on the linear screw. The transmission unit adopts a belt drive component. The belt drive component includes a first pulley and a second pulley coaxially provided on the linear screw and the output shaft of the first drive motor, respectively. A transmission belt is drivenly wound on the first pulley and the second pulley. The linear screw rotates under the drive of the first drive motor, which drives the closed cover to move relative to the mounting plate between the third and fourth positions. In the third position, the closed baffle covers the optical window and the dust collection component to form a sealed negative pressure zone for airflow to draw particulate matter from the surface of the optical window; In the fourth position, the closed cover moves and overlaps with the support surface of the mounting plate, providing space for the laser projection device to rotate in four degrees of freedom.

[0015] Furthermore, the mounting plate has threaded mounting holes at its four corners, and fastening bolts are fitted into the threaded mounting holes. The fastening bolts pass through the threaded mounting holes and are fixedly connected to the fixing seat.

[0016] The beneficial effects of this invention are reflected in: This invention achieves four-degree-of-freedom rotation (flip, horizontal rotation, roll, and pitch) of the laser projection device through the cooperation of a flipping mechanism and a gimbal mechanism. In the non-operating state, the device can be flipped and stored in the groove of the fixed base, effectively protecting it from external impacts and harsh environments. In the operating state, the device can extend beyond the fixed base to achieve multi-angle projection. Simultaneously, through the designed airflow actuator, negative pressure airflow is applied to the surface of the optical window in the stored state, effectively sucking up and removing particulate matter adhering to the optical window surface, preventing projection quality degradation due to optical window contamination and extending the lifespan of optical components. Furthermore, the heat dissipation vent at the rear of the laser projection device cooperates with the Venturi section of the airflow channel, utilizing the Venturi effect to generate negative pressure in the throat, drawing out the heat generated during device operation along with the airflow, achieving synergistic utilization of cooling and cleaning airflow, and improving energy efficiency. Attached Figure Description

[0017] Figure 1 This is a perspective view of the entire invention from a detached viewpoint, representing an embodiment of the present invention. Figure 2 This is a perspective view of a fixing base according to an embodiment of the present invention; Figure 3 This is a perspective view of a mounting plate according to an embodiment of the present invention; Figure 4 This is another perspective view of the mounting plate according to an embodiment of the present invention; Figure 5 This is a third perspective view of a mounting plate according to an embodiment of the present invention; Figure 6 This is a perspective view of a portion of the cross-section of a laser projection device housed on a mounting plate according to an embodiment of the present invention; Figure 7 for Figure 6 Enlarged view of point A in the middle; Figure 8 This is another perspective view of a portion of the cross-section of a laser projection device housed on a mounting plate according to an embodiment of the present invention; Figure 9 This is a connection view of the rotating component and the laser projection device according to an embodiment of the present invention; Figure 10 A perspective view of a laser projection device according to an embodiment of the present invention in its overall stowed state; Figure 11 This is a perspective view of a laser projection device according to an embodiment of the present invention in its overall unfolded state.

[0018] In the picture: 100. Unmanned Aerial Vehicle (UAV) Body; 1. Mounting Base; 2. Mounting Plate; 3. Rotating Components; 31. Tilting Mechanism; 311. Hinge Seat; 32. Gimbal Mechanism; 321. L-shaped Connecting Arm; 322. Connecting Frame; 4. Air Source Module; 5. Air Pathway; 51. Throat Section; 6. Dust Collection Components; 61. Dust Collection Hood; 62. Suction Inlet; 63. Collection Chamber; 64. Filter Screen; 65. Movable Plate; 7. Closing Sheath; 8. Linear Screw; 9. Linear Guide Rod; 10. Transmission Unit; 11. Fastening Bolts. Detailed Implementation

[0019] 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 a part of the embodiments of the present invention, and not all of them. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. 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.

[0020] Please see Figure 1-11 This invention discloses an airborne laser projection bracket. The bracket is installed on the bottom of a UAV fuselage 100 and is used to mount a laser projection device. When performing tasks such as construction layout guidance, component assembly and positioning, and mixed reality spatial anchoring, the UAV projects design drawing outlines, positioning baselines, or identifiable spatial marker information onto the ground or target area using the laser projection device. In non-operating states (such as landing or standby), the laser projection device can automatically fold and store in the fuselage protective compartment, and the optical window is closed, avoiding airflow impact and particulate matter contamination during flight, thereby ensuring long-term stable operation of the equipment.

[0021] It includes: a fixed base 1, a mounting plate 2, a rotating assembly 3, and an air passage actuator.

[0022] The mounting base 1 is fixed to the bottom surface of the UAV body 100 by bolts or integral molding. The mounting base 1 has a groove inside, and the bottom surface of the groove is grooved with an opening a (i.e., the bottom of the groove is open) to allow the laser projection equipment to extend or retract when needed.

[0023] The mounting plate 2 is equipped with a laser projection device, which is then inserted and assembled into a groove on the mounting base 1. The end face of the mounting plate 2 has a through slot with an opening b, allowing the laser projection device to pass through and rotate.

[0024] The mounting plate 2 has four slots with threaded mounting holes, and the threaded mounting holes are adapted to rotate and fasten the bolts 11. The fastening bolts 11 pass through the threaded mounting holes and are fixedly connected to the fixing seat 1, so as to realize the detachable fixation of the mounting plate 2 and the fixing seat 1.

[0025] Please see Figure 3 , Figure 9 The rotating component 3 is located on one side of the opening b, and is used to rotate the laser projection device in four degrees of freedom and flip it over to store it in the groove.

[0026] The rotating assembly 3 includes a flipping mechanism 31 and a gimbal mechanism 32. The flipping mechanism 31 is located on one side of the opening b, and the gimbal mechanism 32 is connected to the flipping mechanism 31 to drive the laser projection device to perform three-degree-of-freedom rotation.

[0027] A flipping mechanism 31 is connected between the mounting plate 2 and the laser projection device. The flipping mechanism 31 includes a first drive motor (not shown in the figure), which drives the laser projection device to rotate relative to the mounting plate 2 around a first axis between a first position and a second position. In the first position (i.e., the storage position), the laser projection device is stored inside the groove of the fixing base 1 and protected by the fixing base 1; in the second position (i.e., the working position), the laser projection device extends at least partially out of the groove of the fixing base 1 and can perform projection operations.

[0028] The flipping mechanism 31 also includes a hinge seat 311 connected to the mounting plate 2 and located at the opening b. The hinge seat 311 is mounted on one side corresponding to the opening b and is rotatably connected to the output shaft of the first drive motor. The gimbal mechanism 32 is connected to the hinge seat 311.

[0029] The gimbal mechanism 32 is connected between the tilting mechanism 31 and the laser projection device. The gimbal mechanism 32 includes a second drive motor, a third drive motor, and a fourth drive motor (none shown in the figure). The second drive motor drives the laser projection device to rotate relative to the tilting mechanism 31 around a second axis, achieving horizontal rotational freedom; the third drive motor drives the laser projection device to rotate relative to the tilting mechanism 31 around a third axis, achieving roll freedom; and the fourth drive motor drives the laser projection device to rotate relative to the tilting mechanism 31 around a fourth axis, achieving pitch freedom. The second, third, and fourth axes intersect or are orthogonal to each other.

[0030] The gimbal mechanism 32 also includes an L-shaped connecting arm 321 and a connecting frame 322. The L-shaped connecting arm 321 rotates on the bottom surface of the hinge base 311 and is connected to the second drive motor, allowing it to rotate around a second axis under the drive of the second drive motor. The connecting frame 322 is located at the end of the L-shaped connecting arm 321 and is connected to the third drive motor. The connecting frame 322 has a U-shaped structure and is connected to the laser projection equipment via a fourth drive motor.

[0031] Through the cooperation of the aforementioned flipping mechanism 31 and gimbal mechanism 32, the laser projection device achieves four degrees of freedom of movement: flipping (driven by the first drive motor to switch between the retracted and extended states), horizontal rotation (driven by the second drive motor), roll (driven by the third drive motor), and pitch (driven by the fourth drive motor).

[0032] It should be noted that when the connecting bracket 322 rotates, the end face of the laser projection device placed horizontally on it will coincide with one end face of the L-shaped connecting arm 321. Then, with the hinge seat 311 flipping, the laser projection device is stored in the groove.

[0033] Please see Figure 4 , Figure 5 The pneumatic actuator is connected to the top of the mounting plate 2 and is inserted into the groove of the mounting base 1. The pneumatic actuator is connected to the pneumatic source module 4. The pneumatic source module 4 is a negative pressure pneumatic source device (such as a miniature vacuum pump), which is installed on the end face of the mounting base 1 and connected to the outside.

[0034] The air path actuator includes an air path channel 5 arranged around the three sides of the opening b and connected along the length of the three sides. A dust suction component 6 is provided on the inner surface of one side of the air path channel 5 (i.e., the side facing the inside of the groove), and the dust suction component 6 is directly opposite the optical window of the laser projection device housed in the fixed base 1. An airflow outlet is provided on the other side of the air path channel 5, and the airflow outlet is connected to the air source module 4.

[0035] When the air source module 4 is activated, a negative pressure airflow is generated in the air passage 5. The dust suction component 6 sucks in particulate matter from the surface of the optical window, and the filtered airflow is discharged to the outside through the air source module 4 after passing through the air passage 5.

[0036] Please refer to Figure 8 The vacuuming component 6 includes a vacuum hood 61, a suction port 62, a collection chamber 63, and a filter 64.

[0037] The dust collection hood 61 is positioned directly opposite the optical window. The suction port 62 is installed on the end face of the dust collection hood 61 (i.e., the side facing the optical window) to suck up particulate matter from the surface of the optical window. The collection chamber 63 is located behind the suction port 62, inside the dust collection hood 61, and is used to temporarily collect the sucked-in particulate matter. A movable plate 65 is installed on the collection chamber 63, opening and closing towards the recessed end face, allowing operators to periodically clean the accumulated particulate matter inside the collection chamber 63 by opening the movable plate 65. A filter 64 is located at the interface between the collection chamber 63 and the air passage 5, preventing particulate matter from entering the air passage 5 and flowing with the airflow, thus avoiding secondary pollution caused by particulate matter being discharged with the airflow.

[0038] It should be noted that the suction port 62 adopts a straight-line structure and can be rotatably sealed to the end face of the dust hood 61. The drive structure (a small gear driven by a motor and a large gear meshing with the small gear, with the large gear coaxially fixed to the suction port 62) is installed on the inner surface of the suction port 62 and inside the dust hood 61. When the motor is started, the torque is transmitted through the meshing of the small gear and the large gear, which drives the suction port 62 to rotate at the end face of the dust hood 61, increasing the negative pressure suction area and further enhancing the particulate matter removal effect.

[0039] In addition, the laser projection equipment has a heat dissipation vent at the rear to dissipate the heat generated during operation.

[0040] A Venturi section is provided on the air passage 5 corresponding to the heat dissipation outlet. The Venturi section is provided with a constriction section, a throat section 51, and a diffuser section connected to the air passage 5 in sequence along the airflow direction. The cross-sectional area of ​​the throat section 51 is smaller than that of the constriction section and the diffuser section. When the airflow passes through the throat section 51, the flow velocity increases and the pressure decreases, generating the Venturi effect.

[0041] The throat section 51 is equipped with multiple negative pressure ports, which correspond to the heat dissipation exhaust ports of the laser projection equipment. When airflow passes through the throat section 51, negative pressure is generated at the negative pressure ports, drawing the hot air discharged from the heat dissipation exhaust ports into the air passage 5, where it is discharged along with the main airflow. This achieves convective cooling of the heat generated by the laser projection equipment, while the cooling airflow and the cleaning airflow share the same air passage system, resulting in a compact structure and high efficiency.

[0042] For further optimization instructions, please refer to [link / reference]. Figure 6 , Figure 7 A closing b is also provided inside the opening, which is used to move along the axis of the vacuum cleaner 6.

[0043] Two ear plates are symmetrically arranged on the outer surface of the closed cover plate 7. A linear screw 8 and a linear guide rod 9 are respectively fitted on the two ear plates. The linear guide rod 9 is used to guide the movement of the closed cover plate 7, ensuring the straightness and smoothness of its movement. A transmission unit 10 connected to the output shaft of the first drive motor is provided on the linear screw 8.

[0044] The transmission unit 10 adopts a belt drive. The belt drive includes a first pulley and a second pulley, which are coaxially mounted on the linear screw 8 and the output shaft of the first drive motor, respectively, and a transmission belt is wound around the first pulley and the second pulley.

[0045] When the first drive motor rotates, on the one hand, the laser projection device is moved into the groove by the flipping of the hinge seat 311, and on the other hand, the linear screw 8 is driven to rotate synchronously by the belt drive component. Therefore, under the drive of the first drive motor, the closed cover 7 moves between the third position and the fourth position relative to the mounting plate 2.

[0046] In the third position (i.e., the storage and cleaning position), the closed cover 7 covers the optical window and the vacuum cleaner 6, forming a sealed negative pressure zone. In this state, the air source module 4 is activated, and the negative pressure airflow is concentrated on the surface of the optical window, which can efficiently suck up and remove particulate matter from the surface of the optical window.

[0047] In the fourth position (i.e., the working release position), the closed cover 7 moves and overlaps with the support surface of the mounting plate 2 (i.e., moves to a position that does not block the opening b), leaving space for the laser projection device to rotate in four degrees of freedom.

[0048] Working principle: When the drone is not in operation, the first drive motor drives the flipping mechanism 31 to flip the laser projection device to the first position (stored in the groove of the fixed base 1). At the same time, the first drive motor drives the linear screw 8 to rotate through the transmission unit 10, driving the closed cover 7 to move to the third position, covering the optical window and the dust collection component 6 to form a sealed negative pressure zone. The air source module 4 is activated, and the negative pressure airflow draws in particulate matter from the surface of the optical window through the suction port 62 of the dust collection component 6. After the particulate matter is collected by the collection chamber 63 and filtered by the filter screen 64, the clean airflow is discharged through the air passage 5. At the same time, the negative pressure port of the Venturi throat section 51 draws out the hot air from the heat dissipation vent of the laser projection device to achieve heat dissipation.

[0049] Deployment Status: When the UAV needs to perform a projection task, the air source module 4 is shut off. The first drive motor reverses, driving the linear screw 8 to rotate in the opposite direction via the transmission unit 10, driving the closed cover 7 to move to the fourth position (coinciding with the support surface of the mounting plate 2). The first drive motor continues to drive the flipping mechanism 31 to flip the laser projection device to the second position (at least partially extending outside the fixed base 1). Subsequently, the second, third, and fourth drive motors drive the laser projection device to perform horizontal rotation, roll, and pitch adjustments according to the projection direction requirements, projecting the image onto the target area.

[0050] Task completion and recycling: After the task is completed, each drive motor reverses its direction, resetting the laser projection device to the first position and the closed cover 7 to the third position, restoring the clean storage state.

[0051] The electrical components described in this article are controlled automatically by a controller. The controller circuit can be implemented by a person skilled in the art through simple programming. The power supply is also common knowledge in the field. Furthermore, since this application is mainly used to protect mechanical devices, the control method and circuit connection will not be explained in detail here.

[0052] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0053] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0054] Additionally, "multiple" refers to two or more.

[0055] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An airborne laser projection bracket, mounted on the fuselage (100) of a drone, characterized in that: It includes a fixed base (1) and a mounting plate (2). The fixed base (1) is fixed to the bottom surface of the UAV body (100), and the fixed base (1) is provided with a groove with an opening a on the bottom surface. A laser projection device is installed on the mounting plate (2) and is installed in the groove. The end face of the mounting plate (2) is provided with an opening b. A rotating component (3) is located on one side of the opening b and is used to rotate the laser projection device in four degrees of freedom and flip it to store it in the groove. The pneumatic actuator is connected to the top of the mounting plate (2) and inserted into the groove. The air path execution end is connected to an air source module (4), which applies negative pressure airflow to the optical window surface of the laser projection device in the stored state to remove particulate matter from the optical window surface and to dissipate heat from the laser projection device after it has been running.

2. The airborne laser projection bracket according to claim 1, characterized in that: The rotating assembly (3) includes a flipping mechanism (31) located on one side of the opening b, and a gimbal mechanism (32) connected to the flipping mechanism (31) and used to drive the laser projection device to perform three-degree-of-freedom rotation.

3. The airborne laser projection bracket according to claim 2, characterized in that: The flipping mechanism (31) is connected between the mounting plate (2) and the laser projection device. The flipping mechanism (31) includes a first drive motor, which drives the laser projection device to rotate relative to the mounting plate (2) around a first axis between a first position and a second position. In the first position, the laser projection device is housed inside the fixed base (1), and in the second position, the laser projection device extends at least partially outside the fixed base (1).

4. The airborne laser projection bracket according to claim 3, characterized in that: The gimbal mechanism (32) is connected between the flipping mechanism (31) and the laser projection device. The gimbal mechanism (32) includes a second drive motor, a third drive motor and a fourth drive motor. The second drive motor is used to drive the laser projection device to rotate about the second axis relative to the flipping mechanism (31) to achieve horizontal rotational freedom; The third drive motor is used to drive the laser projection device to rotate about the third axis relative to the flipping mechanism (31) to achieve roll freedom; The fourth drive motor is used to drive the laser projection device to rotate about the fourth axis relative to the flipping mechanism (31) to achieve pitch freedom; The second axis, the third axis, and the fourth axis intersect each other or are orthogonal to each other.

5. The airborne laser projection bracket according to claim 4, characterized in that: The flipping mechanism (31) further includes a hinge seat (311) connected to the mounting plate (2) and located at the opening b. The hinge seat (311) is installed on the side corresponding to the opening b and rotatably connected to the output shaft of the first drive motor. The gimbal mechanism (32) is connected to the hinge seat (311). The gimbal mechanism (32) further includes an L-shaped connecting arm (321) that rotates on the bottom surface of the hinge seat (311) and is connected to the second drive motor, and a connecting frame (322) located at the end of the L-shaped connecting arm (321) and connected to the third drive motor. The connecting frame (322) has a U-shaped structure and is connected to the laser projection device through the fourth drive motor.

6. The airborne laser projection bracket according to claim 5, characterized in that: The air path execution end includes an air path channel (5) arranged around the three sides of the opening b and connected along the length of the three sides. A dust suction component (6) is provided on the inner surface of one side of the air path channel (5). The dust suction component (6) is directly opposite the optical window housed in the fixed base (1). An airflow outlet is provided on the other side of the air path channel (5). The airflow outlet is connected to the air source module (4). The air source module (4) adopts a negative pressure air source device and is installed on the end face of the fixed base (1) and connected to the outside.

7. The airborne laser projection bracket according to claim 6, characterized in that: The laser projection device is equipped with a heat dissipation vent at the rear. The air passage (5) is provided with a Venturi section corresponding to the heat dissipation outlet. The Venturi section is provided with a contraction section, a throat section (51) and a diffusion section that are formed and connected to the air passage (5) along the airflow direction. The throat section (51) is provided with multiple negative pressure ports, and the multiple negative pressure ports are provided corresponding to the heat dissipation outlet.

8. The airborne laser projection bracket according to claim 6, characterized in that: The vacuum cleaner (6) includes a vacuum hood (61) facing the optical window, a suction port (62) disposed inside the vacuum hood (61) and arranged sequentially along the airflow direction, a collection chamber (63) and a filter (64). The suction port (62) is disposed on the end face of the vacuum hood (61). The collection chamber (63) is located behind the suction port (62) and is located inside the vacuum hood (61) for temporarily collecting particulate matter. A movable plate (65) is provided on the collection chamber (63) facing the end face of the groove. The filter (64) is located at the junction of the collection chamber (63) and the air passage (5) to prevent particulate matter from entering the air passage (5) and flowing along the airflow.

9. The airborne laser projection bracket according to claim 6, characterized in that: The opening b is also provided with a closed baffle (7) for moving along the axial direction of the vacuum cleaner (6). The outer surface of the closed baffle (7) is symmetrically provided with two ear plates. A linear screw (8) and a linear guide rod (9) are respectively adapted to the two ear plates. A transmission unit (10) connected to the output shaft of the first drive motor is provided on the linear screw (8). The transmission unit (10) adopts a belt drive component. The belt drive component includes a first pulley and a second pulley coaxially provided on the linear screw (8) and the output shaft of the first drive motor, respectively. A transmission belt is wound around the first pulley and the second pulley. The linear screw (8) rotates under the drive of the first drive motor, which drives the closed cover (7) to move relative to the mounting plate (2) between the third position and the fourth position. In the third position, the closing baffle (7) covers the optical window and the dust collection component (6) to form a sealed negative pressure zone for airflow to draw particulate matter from the surface of the optical window; In the fourth position, the closed cover (7) moves and overlaps with the support surface of the mounting plate (2) to leave space for the laser projection device to rotate in four degrees of freedom.

10. The airborne laser projection bracket according to claim 1, characterized in that: The mounting plate (2) has threaded mounting ports at its four corners. Fastening bolts (11) are fitted inside the threaded mounting ports. The fastening bolts (11) pass through the threaded mounting ports and are fixedly connected to the fixing seat (1).

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