Full-automatic foldable investigation fixed-wing aircraft

Abstract

The utility model relates to the technical field of airplane models, in particular to a full-automatic foldable investigation fixed-wing airplane, which comprises an investigation airplane and a camera filter lens mounting structure, and the investigation airplane comprises an airplane body equipment structure, an airplane belly equipment structure, foldable wings, a foldable tail, a power system and a control system, foldable wings are arranged on the surfaces of the two sides of the fuselage equipment structure, the fuselage equipment and the foldable wings are connected and fixed through carbon tube connecting structures, and through the foldable structure of the aircraft, it can be guaranteed that the aircraft has good flight performance and mechanical structure performance when unfolded; according to the unmanned aerial vehicle, it can be guaranteed that the aircraft is small in size after being folded, can be placed in a portable box, is convenient to carry and can be flexibly carried to various investigation environments, the folding part is convenient and rapid to install when unfolded, and the efficiency of preparation work before flight of the unmanned aerial vehicle can be greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of aircraft models, in particular to a fully automatic foldable reconnaissance fixed-wing aircraft. Background Art

[0002] After searching the existing Chinese patent document with the announcement number CN210813916U, a ground reconnaissance fixed-wing aircraft model is disclosed, which includes a fixed base plate, a fixed tube and a fixed column. One end of the fixed column is fixedly connected to a bearing seat, and a rolling bearing is fixedly connected to the inside of the bearing seat. A support column is inserted in the middle of the rolling bearing, and one end of the support column is fixedly connected to a fixed frame. The device is used for ground reconnaissance fixed-wing aircraft model. Through the coordination between the aircraft model, the fixed base plate, the fixed tube, the fixed column, the bearing seat, the rolling bearing, the support column, the fixed frame and the connecting plate, the staff can adjust the height of the aircraft model by turning the locking bolt according to needs, and then adjust the angle of the aircraft model by turning the adjusting bolt. The aircraft model can be rotated by setting the rolling bearing. After multiple adjustments, the display effect of the aircraft model can be effectively improved, and visitors can see the details of the aircraft model, effectively improving the viewing effect.

[0003] A fixed-wing aircraft is a heavier-than-air aircraft that uses a propulsion system to generate thrust or pull, and fixed wings on the fuselage to generate lift, allowing it to fly within the atmosphere. It is one type of fixed-wing aircraft and the most common. Another type of fixed-wing aircraft is a glider. Aircraft can be further divided into jet aircraft and propeller aircraft based on the type of engine they use. Most current reconnaissance fixed-wing drones are integral, non-detachable aircraft. These drones are large and take up a lot of space, making them difficult to carry and use in a wide range of reconnaissance flight scenarios. During visual reconnaissance, aircraft often encounter overly bright light conditions, which overexpose ground targets, preventing clear identification of the desired object, resulting in poor practicality. Utility Model Content

[0004] The technical problem to be solved by this utility model is to overcome the shortcomings of the existing technology by providing a fully automatic, foldable, fixed-wing reconnaissance aircraft. This aims to address the problem that most current fixed-wing reconnaissance drones are composed of a single, non-detachable fuselage, resulting in a large overall size and space occupation, making them difficult to carry and use in a wide range of reconnaissance flight scenarios. Furthermore, during visual reconnaissance, aircraft often encounter excessive light exposure, resulting in overexposure of ground targets and an inability to clearly identify the desired object, leading to poor practicality.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] The utility model discloses a fully automatic foldable reconnaissance fixed-wing aircraft, comprising a reconnaissance aircraft and a camera filter mounting structure. The reconnaissance aircraft comprises a fuselage equipment structure, a belly equipment structure, foldable wings, a foldable tail, a power system and a control system. The bottom surface of the fuselage equipment structure is provided with a belly equipment structure, both side surfaces of the fuselage equipment structure are provided with foldable wings, the middle parts of the foldable wings are provided with a folding buckle structure and a folding hook structure, the fuselage equipment and the foldable wings are connected and fixed by a carbon tube connecting structure, the fuselage equipment structure and the foldable tail are connected and fixed by a folding hinge structure, a folding buckle structure and a folding hook structure, and one side surface of the fuselage equipment structure and the belly equipment structure are sequentially provided with a visual recognition processing module mounting area, a flight controller plate mounting area, an airspeed reading device mounting area, a camera gimbal mounting area, a rangefinder plate mounting area, and an automatic bombing water tank.

[0007] The camera filter mounting structure includes a camera plug-in plate and a filter plug-in plate. Camera wire grooves are provided on the lower part of the two side surfaces of the camera plug-in plate, a camera mounting hole is provided on the inner side of the middle part of the camera plug-in plate, a plug-in plate limiting plate is provided on the bottom surface of the camera mounting hole, camera mounting modules are provided on both sides of the top surface of the plug-in plate limiting plate, plug-in plate mounting hole grooves are provided on both sides of the surface of the plug-in plate limiting plate, a camera mounting hole groove is provided on the inner side of the middle part of the filter plug-in plate, and plug-in plate mounting hooks are provided on both sides of the top surface of the filter plug-in plate.

[0008] As a further description of the above technical solution:

[0009] The total length of the fuselage equipment structure, foldable wings and foldable tail when unfolded is 833 mm, and the width and length when folded are 700 mm and 420 mm respectively. The length of the fuselage equipment structure excluding the tail connection part is 420 mm, and the fuselage width is 102 mm. The fuselage equipment structure is composed of basswood plywood and balsa wood board layers, and the foldable wings are composed of foam layers. The span of the foldable wings is 1.24 m, and the chord length of the wings is 0.19 m.

[0010] As a further description of the above technical solution:

[0011] The camera plug-in plate and the plug-in plate limiting plate are spliced and assembled. The camera plug-in plate is a rectangular parallelepiped with a rectangular hollow groove in the middle. The filter plug-in plate and the plug-in plate limiting plate are connected and fixed through the plug-in plate mounting hole groove and the plug-in plate mounting hook. The filter plug-in plate is a cylindrical shape.

[0012] The utility model has the following beneficial effects:

[0013] In the present invention, the foldable structure of the aircraft ensures that the aircraft not only has good flight performance and mechanical structure performance when unfolded, but also has a smaller size after folding, allowing it to be placed in a portable box for easy carrying and more flexible carrying to a variety of reconnaissance environments. The foldable part is easy and quick to install when unfolded, which can greatly improve the efficiency of the drone's pre-flight preparations. The adjustable light filter module can prevent the aircraft's camera from overexposure when performing reconnaissance missions. At the same time, filters of different filter intensities can be selected and installed according to the ambient light. This allows the camera module to cooperate with the filter and fix the filter to prevent it from falling off. At the same time, the reconnaissance system can also be used in a variety of reconnaissance environments, avoiding poor recognition results due to different light conditions in different places. The flexible replacement can achieve the flexibility of the relevant system. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0015] Figure 1 It is a schematic diagram of the overall structure of the fuselage equipment structure of the utility model;

[0016] Figure 2 It is a schematic diagram of the overall structure of the fuselage equipment structure of the utility model;

[0017] Figure 3 This is a schematic top view of the overall structure of the fuselage equipment of the present invention;

[0018] Figure 4 This is a bottom view of the overall structure of the fuselage equipment of the present invention;

[0019] Figure 5 This is a schematic diagram of the overall structure of the camera filter installation structure of the utility model;

[0020] Figure 6 This is a front view schematic diagram of the camera filter installation structure of the present utility model;

[0021] Figure 7 This is a schematic diagram of the actual flight design of the fully automatic foldable reconnaissance fixed-wing aircraft of the utility model;

[0022] In the figure: 1. Fuselage equipment structure; 2. Belly equipment mechanism; 3. Foldable wings; 4. Foldable tail; 5. Folding hook structure; 501. Folding buckle structure; 6. Carbon tube connection structure; 7. Folding hinge structure; 8. Visual recognition processing module installation area; 9. Flight controller panel installation area; 10. Airspeed reading device installation area; 11. Camera gimbal installation area; 12. Rangefinder panel installation area; 13. Automatic bombing water tank; 14. Camera plug-in board; 15. Filter plug-in board; 16. Camera wire trough; 17. Plug-in board limit plate; 18. Camera mounting module; 19. Plug-in board mounting hole slot; 20. Camera mounting hole slot; 21. Plug-in board mounting hook. DETAILED DESCRIPTION

[0023] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0024] In the drawings, the same reference numerals all refer to the same components.

[0025] Example 1

[0026] Reference Figure 1-7 The utility model provides an embodiment of a fully automatic foldable reconnaissance fixed-wing aircraft, comprising a reconnaissance aircraft and a camera filter mounting structure. The reconnaissance aircraft comprises a fuselage equipment structure 1, a ventral equipment mechanism 2, foldable wings 3, a foldable tail 4, a power system, and a control system. The ventral equipment mechanism 2 is disposed on the bottom surface of the fuselage equipment structure 1, and foldable wings 3 are disposed on both side surfaces of the fuselage equipment structure 1. A folding buckle structure 501 and a folding hook structure 5 are disposed in the middle of the foldable wings 3. The fuselage equipment and the foldable wings 3 are connected and fixed by a carbon tube connection structure 6. The fuselage equipment structure 1 and the foldable tail 4 are connected and fixed by a folding hinge structure 7, a folding buckle structure 501, and a folding hook structure 5. A visual recognition processing module mounting area 8, a flight controller panel mounting area 9, an airspeed reading device mounting area 10, a camera gimbal mounting area 11, a rangefinder panel mounting area 12, and an automatic bombing water tank 13 are sequentially disposed on one side surface of the fuselage equipment structure 1 and the ventral equipment mechanism 2.

[0027] The camera filter mounting structure includes a camera plug-in plate 14 and a filter plug-in plate 15. Camera wire grooves 16 are provided on the lower part of the two side surfaces of the camera plug-in plate 14, a camera mounting hole is provided on the inner side of the middle part of the camera plug-in plate 14, a plug-in plate limiting plate 17 is provided on the bottom surface of the camera mounting hole, camera mounting modules 18 are provided on both sides of the top surface of the plug-in plate limiting plate 17, plug-in plate mounting hole grooves 19 are provided on both sides of the surface of the plug-in plate limiting plate 17, a camera mounting hole groove 20 is provided on the inner side of the middle part of the filter plug-in plate 15, and plug-in plate mounting hooks 21 are provided on both sides of the top surface of the filter plug-in plate 15.

[0028] The total length of the fuselage equipment structure 1, foldable wings 3 and foldable tail 4 when unfolded is 833 mm, and the width and length when folded are 700 mm and 420 mm respectively. The length of the fuselage equipment structure 1 excluding the tail connection part is 420 mm, and the fuselage width is 102 mm. The fuselage equipment structure 1 is composed of basswood plywood and balsa wood layer, and the foldable wing 3 is composed of foam layer. The span of the foldable wing 3 is 1.24 m, and the wing chord length is 0.19 m.

[0029] The camera plug-in plate 14 and the plug-in plate limiting plate 17 are spliced and assembled. The camera plug-in plate 14 is a rectangular parallelepiped with a rectangular hollow groove in the middle. The filter plug-in plate 15 and the plug-in plate limiting plate 17 are connected and fixed through the plug-in plate mounting hole groove 19 and the plug-in plate mounting hook 21. The filter plug-in plate 15 is a cylindrical setting.

[0030] Specifically, its structure consists of a fuselage equipment structure 1, a belly equipment mechanism 2, a foldable wing 3, a foldable tail 4, a folding hook structure 5, a folding buckle structure 501, a carbon tube connection structure 6, a folding hinge structure 7, a visual recognition processing module installation area 8, a flight controller panel installation area 9, an airspeed reading device installation area 10, a camera gimbal installation area 11, a rangefinder panel installation area 12, an automatic bombing water tank 13, a camera plug-in board 14, a filter plug-in board 15, a camera wire trough 16, a plug-in board limit plate 17, a camera The mounting module 18, the insert plate mounting holes 19, the camera mounting holes 20, and the insert plate mounting hooks 21 form a fully automatic, foldable fixed-wing reconnaissance aircraft. The foldable wing 3 is the primary lift-generating component of the aircraft, contributing approximately half of the aircraft's total drag. Based on the mission's characteristics and requirements, a plano-convex airfoil was selected as the basis for selection, ultimately selecting the ClarkY airfoil. Aerodynamic analysis of the wing using XFLR5 software revealed specific data, including lift coefficient, drag coefficient, and minimum stall angle of attack. The wing is designed to be foldable, meeting packaging size requirements while ensuring easy and rapid assembly and reliable structural strength. A hollow water tank is located in the lower portion of the fuselage equipment structure 1. The front of the tank houses the battery, while the rear houses the image transmission lens. The upper portion of the fuselage equipment structure 1 houses the flight control and other hardware. The fuselage equipment structure 1 and the foldable tail 4 are connected by carbon rods and are also designed to fold. The foldable tail 4 consists of two vertical tails mounted on either side of the horizontal tail to facilitate folding. The fuselage equipment structure 1 is primarily constructed from basswood plywood and balsa wood panels, ensuring structural strength while maintaining low weight. After determining the aircraft dimensions, we simulated the model in XFLR5 software to verify the aircraft's handling stability and aerodynamic characteristics. The simulation intuitively demonstrates the aircraft's mass and shape, as well as the lift, viscous, and induced drag it experiences during flight. It also illustrates the relationship between the aircraft's lift and drag coefficients. The simulation results are derived from multiple simulations conducted at different flight speeds, analyzing various parameters such as the rolling moment coefficient, angle of attack, total yaw moment coefficient, frequency, and damping. These simulations reflect the aircraft's flight stability and mission feasibility, the rationality of the aircraft's structure, and the determination of the optimal mass and center of gravity, ensuring that the aircraft's advantages are fully utilized after component assembly. The fully automatic foldable fixed-wing reconnaissance aircraft is constructed primarily of foam material. The foldable wings (3) are formed into the desired airfoil shape through hot-wire cutting and then assembled together to create the foldable wing structure. The fuselage equipment structure (1) is partially assembled from basswood plywood. The foam structure (1) is lightweight, and the modular foldable wings (3) not only simplify the manufacturing process, eliminating the need for complex assembly, but also provide increased drop resistance and ease of replacement, reducing the effort required to repair damage. The foam wings are formed using electric hot-wire cutting, resulting in a smooth cut surface and a structure that meets the required requirements. This ensures both structural strength and optimal weight distribution.Servo gear and other components are installed and wired by digging holes and making wire troughs, and better results can be achieved after they are fixed.

[0031] This fully automatic, foldable reconnaissance fixed-wing aircraft features a foldable wing and fuselage structure, making it highly portable when folded and offering excellent flight performance when unfolded. The upper portion of the fuselage equipment structure 1 is designed as an equipment installation area, the lower portion houses an automatic bomb drop tank 13, and the tail section houses a camera. A removable filter mounting plate is designed to accommodate the camera. This removable filter mounting plate is formed by a camera insert plate 14, a filter insert plate 15, a camera cable duct 16, an insert plate stopper 17, a camera mounting module 18, an insert plate mounting slot 19, a camera mounting slot 20, and an insert plate mounting hook 21. The camera is inserted into the camera mounting slot 20, and the filter is inserted into the insert plate mounting slot 19. After the equipment is installed, the insert plate mounting hook 21 is inserted into the insert plate mounting slot 19 and then rotated to the stop position to lock it in place. The two independent components are inserted and joined together through the notch. Once in place, they can be rotated to engage the insert plate mounting hook 21, securing the structure. A notch is designed at the foldable tail 4, and the camera plug-in plate 14 is inserted first. After rotating and fixing, the filter plug-in plate 15 is screwed in and fixed to complete the installation of the components.

[0032] The fully automatic, foldable reconnaissance fixed-wing aircraft features a powertrain equipped with an X22121250KV motor, a 40A electronic speed controller, and 3S batteries. The aircraft deflects due to the different engine thrusts. This differential turning strategy utilizes this characteristic, replacing the traditional rudder for turning. This reduces the risk of stalling during turns and simplifies the tail structure.

[0033] Control System Configuration: The CUVA X7+ is used as the flight controller. The X7+ is an advanced autopilot designed and manufactured by CUVA. It utilizes an STM32H7 series processor, a higher-performance processor than the PX4's next-generation flight controller (Pxiahwk FMUv5x), and integrates high-precision industrial-grade sensors and ultra-low-temperature drift sensors. Compared to the previous generation flight controller, it offers improved performance, greater stability, and greater reliability. It is fully compatible with ArduPilot and PX4 firmware. Given the difficulty of accurately identifying targets due to the aircraft's fluctuating attitude during flight, a separate vertical stabilization module is used for gimbal control. This reduces the burden on the flight controller and enables more precise attitude control. Furthermore, the water drop module utilizes the mission planner's built-in servos. Directly connecting to the flight controller reduces latency between the servos and command issuance, improving target engagement accuracy.

[0034] Positioning Device Configuration: The NEO 3 positioning device uses the same hardware design as the NEO v2, but with an upgraded GNSS navigation module, the M9N, supporting the four major satellite systems: Beidou, GPS, Galileo, and GLONASS. This significantly improves positioning accuracy, making it a cost-effective positioning and navigation module for unmanned systems. It integrates a compass, flight controller status light, buzzer, and safety switch, offering high sensitivity and strong anti-interference capabilities.

[0035] Image recognition device configuration: Image recognition utilizes the Luban Cat 4 onboard computer module and its accompanying onboard camera. Based on past experience, images returned by analog image transmission cannot accurately identify target digits. The optional onboard camera offers significant advantages in high resolution and wide angle, providing more time for observation and identification during flight. Combined with the ground-based field size, this fully leverages the advantages of digital image transmission to achieve clear target identification. YOLOv8-based image recognition technology utilizes the YOLOv8n-obb and YOLOv8n models. These models are trained and optimized using a self-built digital dataset, and an algorithm is used to achieve target alignment. This enables real-time double-digit recognition within the Luban Cat 4 embedded device. After using labellmg to organize and annotate the images, a modified YOLOv8 visual recognition program based on PyTorch is run to obtain epoch training weights. After loading the weights into YOLO, predictions can be performed on the prediction dataset to assess the model's accuracy and, therefore, its reliability in visual recognition. Precision represents the ratio of correctly assigned positive samples to the total number of assigned positive samples, where TP (True Positives) represents the number of correctly detected samples, and FP (False Positives) represents the number of samples incorrectly classified as positive. Due to the limited environment and the limited number of types of objects recognized in the fixed-wing UAV reconnaissance and strike competition, Precision achieved a high accuracy of 99.44%. Average Precision (AP) is the area under the Precision-Recall curve (PRC), which uses the difference average precision (Pinterp(R)) method. When the IoU is set to 0.5, the mAP is 0.9951. The average mAP for different IoU thresholds (ranging from 0.5 to 0.95, with a step size of 0.05) (0.5, 0.55, 0.6, 0.65, 0.7, 0.75, 0.8, 0.85, 0.9, and 0.95) is 0.8885. By testing the model in real-world scenarios, it can accurately identify double-digit numbers. This is the ratio of positive examples (TP) correctly identified by the model to all positive examples in the dataset (TP + FN). FN represents data that the model mistakenly identifies as negative but is actually positive. Recall, also known as recall, is used as an example. For object detection, we often consider objects in an image as positive examples. A high recall rate indicates that the model can detect more objects in the image.

[0036] Symmetrical digit recognition: After using AnyLabelimg to organize and annotate the images, run the improved YOLOv8-obb visual recognition program based on pytorch to obtain the relevant Epoch training weights. After loading the relevant weights in YOLOv8-obb, the prediction set data can be predicted to identify the rotation box of the target, and then calculate the angle to achieve the correction of the target. Through the python algorithm, write the pre-processing and post-processing of ONNX. After the YOLOv8-obb model infers the image, the rotation box obtained by YOLOv8-obb is obtained to obtain the angle θ. Specific ideas for model optimization: First, unify the hyperparameters of the v5, v8, v9, and v10 models and compare them. Then, use the genetic algorithm to optimize the hyperparameters of the optimal model structure. The comparison formula is:

[0037] fitness=0.1*precision+0.5*recall fitness+0.1*mAP50+0.3*mAP50-95

[0038] The genetic algorithm uses the hyperparameter genetic algorithm of the ultralytics library. The main hyperparameters adjusted are:

[0039] Optimizer selection (optimizer), data set configuration (data), deterministic algorithm (deterministic), cosine annealing learning rate (cos_lr), initial learning rate (lr0), final learning rate (lrf), momentum factor (momentum), weight decay (weight_decay), learning rate warmup period (warmup_epochs), warmup phase momentum (warmup_momentum). Figure 7 As shown, the mission involves the aircraft automatically taking off, climbing to a set altitude, engaging autocruise, entering the mission area, identifying a target, and then dropping the bomb, ultimately landing automatically. ArduPilot is used to debug the flight control system, designing waypoints, and maneuvering the aircraft to initiate the mission. The reconnaissance footage returned by the image transmission system is combined with the YOLO system to identify target data. Once the target is identified, the bomb is dropped. The mission planner's built-in servo control, combined with the designed algorithm, allows the bomb to be dropped as it approaches the target.

[0040] Function introduction of fully automatic foldable reconnaissance fixed-wing aircraft:

[0041] Automatic takeoff: Using the Leixun X7+ flight controller and related equipment, set the relevant parameters on the Mission Planner ground station. After unlocking the ground station and unlocking the throttle lock, switch the remote control to automatic mode, hold the aircraft tightly and throw the aircraft forward to wake up the motors. After determining that the motor thrust is appropriate, throw the aircraft in the direction of the next waypoint. When the aircraft leaves the ground and reaches the preset altitude for the preset action according to the preset climb angle and route, the automatic takeoff mission is completed and it will fly to the next waypoint and preset altitude according to the route plan.

[0042] Automatic route mission: Using the Leixun X7+ flight control system and related equipment, perform preliminary waypoint planning on the Mission Planner ground station, design a closed route, and perform a circling mission with a determined number of circles. After completing the automatic takeoff mission, the aircraft will fly to the first waypoint at the beginning of the route, enter the route, and begin the circling mission.

[0043] Reconnaissance and Bombing Mission: Utilizing the Leixun X7+ flight controller, Luban Cat 4 onboard computer, and related camera equipment, as well as the jettisoning servo system, the aircraft conducts reconnaissance and water-dropping missions simultaneously with its hovering mission. The onboard computer activates upon ground launch and automatically enters a recognition program based on the YOLO V5 system. During the hovering mission, the aircraft identifies ground targets, saves screenshots of the identified targets to the onboard computer's internal storage, and sends the images to a designated email address for easy access. This constitutes the aircraft's recognition mission. Following this recognition mission, the aircraft automatically plans a flight path based on the identified digital coordinates and designs a bombing path. At the appropriate location, the jettisoning servo system automatically operates to release the water bomb and strike the target. This constitutes the aircraft's bombing mission.

[0044] Automatic landing mission: Using the Leixun X7+ flight controller and MT-01P laser ranging module, the aircraft returns to the preset route after completing the bombing mission and lands at a fixed descent rate and speed according to the preset altitude and direction.

[0045] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A fully automatic foldable reconnaissance fixed-wing aircraft, comprising a reconnaissance aircraft and a camera filter mounting structure, wherein the reconnaissance aircraft comprises a fuselage equipment structure (1), a belly equipment mechanism (2), foldable wings (3), a foldable tail (4), a power system and a control system, and is characterized in that: The bottom surface of the fuselage equipment structure (1) is provided with a belly equipment mechanism (2), and both sides of the fuselage equipment structure (1) are provided with foldable wings (3), and the middle of the foldable wings (3) is provided with a folding buckle structure (501) and a folding hook structure (5), the fuselage equipment and the foldable wings (3) are connected and fixed by a carbon tube connection structure (6), the fuselage equipment structure (1) and the foldable tail (4) are connected and fixed by a folding hinge structure (7), a folding buckle structure (501) and a folding hook structure (5), and one side surface of the fuselage equipment structure (1) and the belly equipment mechanism (2) is provided with a visual recognition processing module installation area (8), a flight controller plate installation area (9), an airspeed reading device installation area (10), a camera gimbal installation area (11), a rangefinder plate installation area (12), and an automatic bombing water tank (13) in sequence; The camera filter mounting structure comprises a camera plug-in board (14) and a filter plug-in board (15), wherein the lower parts of both side surfaces of the camera plug-in board (14) are provided with camera line grooves (16), the inner side of the middle part of the camera plug-in board (14) is provided with a camera mounting hole, the bottom surface of the camera mounting hole is provided with a plug-in board limiting plate (17), the top surface of the plug-in board limiting plate (17) is provided with camera mounting modules (18) on both sides, the two side surfaces of the plug-in board limiting plate (17) are provided with plug-in board mounting hole grooves (19), the inner side of the middle part of the filter plug-in board (15) is provided with a camera mounting hole groove (20), and the top surface of the filter plug-in board (15) is provided with plug-in board mounting hooks (21) on both sides.

2. The fully automatic foldable reconnaissance fixed-wing aircraft according to claim 1, characterized in that: The total length of the fuselage equipment structure (1), the foldable wings (3) and the foldable tail (4) when unfolded is 833 mm, and the width and length after folding are 700 mm and 420 mm respectively. The length of the fuselage equipment structure (1) excluding the tail connection part is 420 mm, and the width of the fuselage is 102 mm. The fuselage equipment structure (1) is composed of basswood plywood and balsa wood layer, and the foldable wings (3) are composed of foam layer. The span of the foldable wings (3) is 1.24 m, and the chord length of the wings is 0.19 m.

3. The fully automatic foldable reconnaissance fixed-wing aircraft according to claim 1, characterized in that: The camera plug-in plate (14) and the plug-in plate limiting plate (17) are spliced and assembled. The camera plug-in plate (14) is a rectangular parallelepiped with a rectangular hollow groove in the middle. The filter plug-in plate (15) and the plug-in plate limiting plate (17) are connected and fixed through the plug-in plate mounting hole groove (19) and the plug-in plate mounting hook (21). The filter plug-in plate (15) is a cylindrical shape.

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