Indoor unmanned aerial vehicle system and device based on laser SLAM

Abstract

The utility model relates to the technical field of unmanned aerial vehicles, and mainly discloses an indoor unmanned aerial vehicle system and device based on laser SLAM, the system comprises a flight control module, an NX module, a power supply module, an IMU module, an electronic speed control module, a pan-tilt camera and a laser radar, and the components in the system are installed on an unmanned aerial vehicle main body to form an unmanned aerial vehicle device. According to the system, high-precision positioning and navigation of the unmanned aerial vehicle device in an indoor environment can be realized, a good map building function and autonomous obstacle avoidance capability are achieved, image data shot by the unmanned aerial vehicle device are clear and high in quality, and the unmanned aerial vehicle device is compact in structure, stable in operation and high in safety performance.

Description

TECHNICAL FIELD

[0001] The utility model relates to an unmanned plane technical field, concretely is a kind of indoor unmanned plane system and device based on laser SLAM can be in indoor environment and carry out accurate positioning and navigation and fly autonomously. BACKGROUND

[0002] An unmanned aerial vehicle (UAV) is a remotely operated aircraft controlled by radio control equipment or its own program control device. They are widely used in military and civilian fields, with high efficiency, flexibility and cost-effectiveness. The origin of UAVs can be traced back to the early 20th century, initially used for military reconnaissance, and with the development of technology, its application range has gradually expanded to photography, logistics, agriculture and other fields.

[0003] An indoor UAV is a UAV system designed specifically for performing tasks in indoor environments. Indoor UAVs have higher flexibility and maneuverability, and can perform various tasks in complex indoor environments, such as exploration of unknown environments and search for specific targets.

[0004] Traditional UAV positioning relies heavily on GPS signals, which are often limited in indoor environments. The development of indoor UAVs benefits from the advancement of laser radar technology and autonomous flight control systems. Laser radar technology enables UAVs to fly stably in environments without global navigation satellite system data, fully scanning indoor space and constructing high-definition model image data. Laser SLAM technology, as an advanced spatial perception method, acquires environmental information through laser radar and performs real-time map construction and UAV positioning, effectively solving the above problems. Although existing technologies have made some progress in certain applications, they still have low efficiency and poor adaptability when dealing with complex indoor environments.

[0005] Chinese invention patent CN117572879A discloses an unmanned aerial vehicle based on laser radar SLAM positioning and navigation, including unmanned aerial vehicle body, multi-line three-dimensional laser radar unit installed in front of unmanned aerial vehicle body, IMU inertial sensor, high-performance data processing unit and flight control system. The unmanned aerial vehicle can fly indoors or in any conditions without satellite GPS signal reception, is safe and reliable, not easily disturbed by wireless signals, and can fly autonomously without communication connection.

[0006] The above technical solution has the following defects:

[0007] 1. Only three-dimensional laser radar unit is used as a module for acquiring environmental information and constructing a map. When the laser radar unit fails, the UAV cannot guarantee positioning capability.

[0008] 2. The indoor environment is mostly poor light, the existing unmanned aerial vehicle cannot realize adaptive light compensation according to the indoor environment light intensity, therefore the video image data quality of the unmanned aerial vehicle gimbal camera is poor.

[0009] 3. The existing unmanned aerial vehicle structure is not compact, and does not have a protection function, the stability of the unmanned aerial vehicle is poor, and the unmanned aerial vehicle is easy to be damaged after collision. Practical new type content

[0010] The utility model discloses a kind of indoor unmanned aerial vehicle systems and devices based on laser SLAM, which can realize high-precision positioning and navigation of unmanned aerial vehicle device in indoor environment, and have good map building function and autonomous obstacle avoidance capability, the image data of the unmanned aerial vehicle device is clear, high quality, and the unmanned aerial vehicle device is compact in structure, stable in operation, and high in safety performance.

[0011] To achieve the above object, the utility model adopts the following technical scheme: an indoor unmanned aerial vehicle system based on laser SLAM, including flight control module, NX module, power module, IMU module, electronic speed controller module, gimbal camera and laser radar, the laser radar, gimbal camera and IMU module are all communicatedly connected with flight control module, the flight control module is further communicatedly connected with optical flow laser module, the flight control module is electrically connected with power module, the power module is further electrically connected with NX module, the laser radar is used to collect the position data of indoor surrounding environment articles, the IMU module is used to obtain the running state of unmanned aerial vehicle, including pose information and motion information, the gimbal camera is used to collect video data, the optical flow laser module is used to collect the speed information and position information of unmanned aerial vehicle, the data collected by the laser radar is transmitted to flight control module after being processed by NX module, the data collected by IMU module, gimbal camera and optical flow laser module is directly transmitted to flight control module, the flight control module processes the received data, to obtain data and build map and unmanned aerial vehicle positioning;The flight control module is communicatedly connected with electronic speed controller module, and the flight control module controls the rotating speed of each rotor motor of unmanned aerial vehicle through electronic speed controller module, to control the lifting force and propulsive force generated by each rotor, so that unmanned aerial vehicle keeps stable flight.

[0012] Through the technical scheme, the connection relationship between the modules shows the basic framework of the unmanned aerial vehicle system, wherein the modules are cooperated with each other through different connection modes to realize the function of the unmanned aerial vehicle. The flight control module as the core controller connects and coordinates the work of all other modules, acquires the flight data of the unmanned aerial vehicle, and controls the flight attitude of the unmanned aerial vehicle; the power module is responsible for distributing and managing the power resources; the laser radar as the core sensor is responsible for sensing the surrounding environment; the optical flow laser module as the backup redundant positioning module ensures the positioning ability of the unmanned aerial vehicle in the case of failure of the laser radar; and other modules such as the gimbal camera, the electronic speed controller module and the IMU module each undertake specific tasks.

[0013] Further, the system further comprises a heat dissipation module, which dissipates heat for the heat generating components such as the power module, the NX module and the WIFI module.

[0014] Further, the flight control module is further in communication connection with a photosensitive sensor, wherein the photosensitive sensor is used to acquire indoor ambient light data, and the flight control module controls the starting and stopping of the floodlight and / or the fill light.

[0015] Further, the floodlight is arranged close to the gimbal camera, and the setting direction of the floodlight is forward or upward, which provides light for the gimbal camera; the fill light is arranged close to the optical flow laser module, and the setting direction of the fill light is downward, which is consistent with the shooting direction of the optical flow sensor of the optical flow laser module, thereby providing guarantee for the optical flow positioning.

[0016] An indoor unmanned aerial vehicle device based on laser SLAM, comprising the unmanned aerial vehicle system, further comprising an unmanned aerial vehicle body and a protective cage, wherein the electronic speed controller module, the IMU module, the flight control module, the power module and the NX module of the unmanned aerial vehicle system are arranged in the cabin of the unmanned aerial vehicle body from top to bottom, and are fastened by multiple structural members, the protective cage is arranged on the outer side of the unmanned aerial vehicle body and connected with the unmanned aerial vehicle body, the gimbal camera is arranged in front of the unmanned aerial vehicle body, the laser radar is arranged on the top of the unmanned aerial vehicle body, the optical flow laser module is arranged at the rear of the unmanned aerial vehicle body, and the laser radar, the gimbal camera and the optical flow laser module are arranged inside the protective cage.

[0017] By the technical scheme, compared with the prior art, the unmanned aerial vehicle main cabin adopts a flying tower layout, the electric governor module, the IMU module, the flight control module, the power module and the NX module are arranged in a certain order from top to bottom, and multiple structural members are used to fasten the modules in layers, so that the structure is compact, the space occupied is small, and the stability of the unmanned aerial vehicle main body is improved; the protective cage can effectively disperse the impact force and improve the safety, and can prevent the internal components from being damaged when colliding; the laser radar is located in the protective cover at the top of the unmanned aerial vehicle main body and is inclined at a certain angle, and the purpose is to collect point cloud data on the upper part of the aircraft and provide more accurate sensing results; the gimbal camera is located in front of the unmanned aerial vehicle main body above the horizontal line, so that the line of sight is not affected by the protective cage, but the gimbal camera can still be protected by the protective cage.

[0018] Further, the protective cage comprises a plurality of hexagonal protective fences arranged in a cross distribution, a circular support rod is arranged in the middle of the protective cage to enhance the strength of the protective cage, a node support is arranged at the intersection of the protective fence and the support rod, the node support is detachably connected with the support rod and the protective fence, the side of the cabin of the unmanned aerial vehicle main body is detachably connected with the support rod through a connecting rod, and the bottom of the cabin of the unmanned aerial vehicle main body is detachably connected with the intersection of the plurality of protective fences.

[0019] Further, the gimbal camera is installed above the connecting rod connecting the cabin of the unmanned aerial vehicle main body and the support rod, and the local width of the connecting rod is widened to form a mounting seat of the gimbal camera; the optical flow laser module is installed below the connecting rod connecting the cabin and the support rod, and the local width of the connecting rod is widened to form a mounting seat of the optical flow laser module.

[0020] Further, the floodlight is installed on the node support at the intersection of the protective fence and the support rod in front of the gimbal camera, and the direction is forward or upward to provide light for the gimbal camera.

[0021] Further, the light supplement lamp is installed below the mounting seat formed by the connecting rod of the optical flow laser module, and the direction is downward, which is consistent with the shooting direction of the optical flow sensor of the optical flow laser module to provide guarantee for optical flow positioning.

[0022] Further, the photosensitive sensor is installed on the side of the cabin of the unmanned aerial vehicle main body, which is used to sense the change of natural environment light, and then start and stop the light supplement lamp and the floodlight.

[0023] Further, the top of the cabin of the unmanned aerial vehicle main body is provided with a floodlight close to the laser radar.

[0024] Compared with the prior art, the beneficial effects of the utility model are:

[0025] The utility model provides a kind of indoor unmanned aerial vehicle system and device based on laser SLAM, can realize high-precision positioning and navigation of unmanned aerial vehicle device in indoor environment, and have good autonomous obstacle avoidance ability and map construction function, the system is set up as spare redundant positioning module by light flow laser module, in the case where laser radar fails, ensure that unmanned aerial vehicle still has positioning ability;The unmanned aerial vehicle system is set by photosensitive sensor and floodlight, light supplement lamp, can automatically start and close light supplement function according to indoor illumination intensity, so that unmanned aerial vehicle system's gimbal camera can obtain clear image, high-quality video data;The unmanned aerial vehicle device is arranged by each module in order closely, gimbal camera, laser radar and light flow laser module are set on suitable position, so that unmanned aerial vehicle device structure is compact, stable in operation, and by setting protective cage on the outside of unmanned aerial vehicle main body, protective cage can effectively disperse impact force, can prevent internal components from being damaged when colliding, improve the safety performance of unmanned aerial vehicle device. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or prior art, the following will briefly introduce the drawings needed to be used in embodiment or prior art description, obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without creating labor.

[0027] Figure 1 It is indoor unmanned aerial vehicle system schematic diagram of the utility model;

[0028] Figure 2 It is indoor unmanned aerial vehicle device perspective view of the utility model;

[0029] Figure 3 It is indoor unmanned aerial vehicle device side view of the utility model;

[0030] Figure 4 It is indoor unmanned aerial vehicle device plan view of the utility model.

[0031] In the drawing: 1, unmanned aerial vehicle main body;2, gimbal camera;3, laser radar;4, light flow laser module;5, protective cage;6, support rod;7, WIFI antenna;8, floodlight;9, light supplement lamp;10, photosensitive sensor;11, electric adjustment module;12, IMU module;13, flight control module;14, power module;15, NX module;16, heat dissipation module. DETAILED DESCRIPTION

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0033] Example 1

[0034] like Figure 1 As shown, an indoor drone system based on laser SLAM is provided, comprising a flight control module 13, an NX module 15, a power supply module 14, an IMU module 12, an ESC module 11, a gimbal camera 2, and a lidar 3.

[0035] The LiDAR 3, gimbal camera 2, and IMU module 12 are all communicatively connected to the flight control module 13. The flight control module 13 is also communicatively connected to the optical flow laser module 4. The flight control module 13 is electrically connected to the power supply module 14, which is also electrically connected to the NX module 15. The LiDAR 3 is used to collect position data of objects in the surrounding indoor environment. The IMU module 12 is used to acquire the operating status of the UAV, including pose and motion information. The gimbal camera 2 is used to collect video data. The optical flow laser module 4 is used to collect the speed and position information of the UAV. The data collected by the LiDAR 3 is processed by the NX module 15 and then transmitted to the flight control module 13. The data collected by the IMU module 12, gimbal camera 2, and optical flow laser module 4 are directly transmitted to the flight control module 13. The flight control module 13 performs overall processing on the received data to obtain data and construct a map and UAV positioning.

[0036] Among them, the flight control module 13 is the flight control board as the core controller, which connects and coordinates the work of all other modules, acquires the UAV flight data, and controls the UAV flight attitude;

[0037] The power module 14 is responsible for allocating and managing power resources, providing power to the NX module 15, flight control module 13, ESC module 11, and heat dissipation module 16;

[0038] IMU module 12 is an inertial measurement unit, which generally refers to a space attitude sensor. An inertial measurement unit is a device that measures the three-axis attitude angles (or angular rates) and acceleration of an object to detect the flight status of a drone.

[0039] NX module 15 is an embedded module, mainly used for high-performance computing and artificial intelligence (AI) applications. NX module 15 is particularly suitable for edge computing and embedded systems, capable of running complex neural networks and processing high-resolution sensor data on these devices. For unmanned aerial systems, it is used for real-time data processing and flight control;

[0040] Laser radar 3 can be selected as 3D laser radar Mid-360, which is a prior art, and this patent will not be described;

[0041] Optical flow laser module 4 is a module that integrates optical flow sensors and laser sensors, mainly used in unmanned aerial vehicles, robots, home appliances, parking lots, and security detection fields. It accurately calculates speed and direction information by capturing changes in ground texture, and realizes obstacle avoidance function by measuring distance from obstacles. Optical flow laser module 4 usually has high stability and durability, and can maintain stable performance output in complex flight environments and is not easily affected by external interference. Optical flow laser module 4 works as follows: optical flow sensor: captures changes in ground texture, calculates speed and direction information of the unmanned aerial vehicle by analyzing these changes. Laser sensor: measures distance from obstacles to realize obstacle avoidance function. Integration process: the interface design of the module and the main controller is reasonable, the connection is stable and reliable, and the module can be quickly integrated through simple interface connection and power connection. When used in unmanned aerial vehicles, it can provide accurate speed and direction information to help the unmanned aerial vehicle plan the path autonomously and avoid obstacles. Common models include Youxiang optical flow laser combination T1, T2, etc.

[0042] The flight control module 13 is electrically connected with the electronic speed controller module 11, and the flight control module 13 controls the rotation speed of each rotor motor of the unmanned aerial vehicle through the electronic speed controller module 11 to control the lifting force and propulsion force generated by each rotor, so that the unmanned aerial vehicle maintains stable flight.

[0043] Through the above technical solutions, the connection relationship between each module shows the basic architecture of the unmanned aerial vehicle system, in which each module cooperates with each other through different connection methods to realize the function of the unmanned aerial vehicle. The flight control module 13 as the core controller connects and coordinates the work of all other modules, obtains the flight data of the unmanned aerial vehicle, and controls the flight attitude of the unmanned aerial vehicle; the power module 14 is responsible for distributing and managing power resources; the laser radar 3 as the core sensor is responsible for sensing the surrounding environment, and the optical flow laser module 4 as the backup redundant positioning module ensures the positioning ability of the unmanned aerial vehicle in the case of failure of the laser radar 3, while other modules such as the gimbal camera 2, the electronic speed controller module 11, and the IMU module 12 each undertake specific tasks.

[0044] In order to realize remote data transmission, the flight control module 13 is also connected with a WIFI module, and the WIFI module is used for transmitting wireless data at a distance.

[0045] The system also includes a heat dissipation module 16, which dissipates heat from heat-generating components such as the power module 14, NX module 15, and WIFI module.

[0046] In order to enable the UAV system to automatically turn on supplementary lighting according to the indoor light intensity, the flight control module 13 is also connected to the photosensitive sensor 10. The photosensitive sensor 10 is used to acquire indoor ambient light data, and the flight control module 13 controls the start and stop of the floodlight 8 and / or the supplementary light 9.

[0047] The floodlight 8 is positioned close to the gimbal camera 2, and its direction is forward or upward to provide supplementary lighting for the gimbal camera 2. The fill light 9 is positioned close to the optical flow laser module 4, and its direction is downward, consistent with the shooting direction of the optical flow sensor of the optical flow laser module 4, thus ensuring optical flow positioning.

[0048] The power module 14 can also provide supplementary functions for the whole machine (power on / off, power indicator, ambient light acquisition, supplementary light 9 control, etc.), and will interact with the smart battery later.

[0049] Example 2

[0050] On the other hand, this embodiment is based on embodiment 1, but differs in that it discloses an indoor unmanned aerial vehicle (UAV) device based on laser SLAM, such as... Figures 2-4 As shown, the unmanned aerial vehicle (UAV) system, including the one described in Embodiment 1, also includes the UAV body 1 and the protective cage 5. The UAV body 1 adopts a coaxial eight-propeller aircraft layout. The UAV body 1 has four arms evenly distributed at the four corners outside the cabin. The arms have a total of eight propellers, four on the top and four on the bottom of the cabin, which are controlled by eight motors, ensuring stability and maneuverability and increasing the UAV's payload.

[0051] The electronic speed controller module 11, IMU module 12, flight control module 13, power supply module 14, and NX module 15 of the UAV system are arranged sequentially from top to bottom inside the cabin of the UAV body 1. They are layered and fastened together using various structural components. The protective cage 5 is located on the outside of the UAV body 1 and connected to it. The gimbal camera 2 is located in front of the UAV body 1. The lidar 3 is tilted and located on the top of the UAV body 1. The optical flow laser module 4 is located at the rear of the UAV body 1. The lidar 3, gimbal camera 2, and optical flow laser module 4 are all located inside the protective cage 5.

[0052] Through the technical scheme, compared with the prior art, the unmanned aerial vehicle main body 1 adopts a flying tower layout, the battery is placed at the bottom of the cabin of the unmanned aerial vehicle main body 1, two electronic speed controller modules 11, IMU modules 12, flight control modules 13, power supply modules 14 and NX modules 15 are arranged in a certain order from top to bottom, and the unmanned aerial vehicle main body 1 is fastened in layers by using various structural members, so that the structure is compact, the occupied space is small, and the stability of the unmanned aerial vehicle main body 1 is improved.

[0053] Specifically, the protective cage 5 includes a plurality of hexagonal protective fences arranged in a cross distribution, a circular support rod 6 is arranged at the middle of the protective cage 5 to enhance the strength of the protective cage 5, a node support is arranged at the intersection of the protective fence and the support rod 6, the node support is detachably connected with the support rod 6 and the protective fence, the cabin side and the arm of the unmanned aerial vehicle main body 1 are detachably connected with the support rod 6 through a connecting rod, and the bottom of the cabin of the unmanned aerial vehicle main body 1 is detachably connected with the intersection of the plurality of protective fences. The design of the protective cage 5 is not only beautiful, but also can effectively disperse the impact force, improve the safety, and prevent damage to the internal components during collision.

[0054] Specifically, the gimbal camera 2 is installed above the connecting rod connecting the cabin of the unmanned aerial vehicle main body 1 and the support rod 6, the local width of the connecting rod is widened to form a mounting seat for the gimbal camera 2; the optical flow laser module 4 is installed below the connecting rod connecting the cabin and the support rod 6, and the local width of the connecting rod is widened to form a mounting seat for the optical flow laser module 4. The laser radar 3 is located in the protective cover at the top of the unmanned aerial vehicle main body 1, and is inclined at a certain angle, the purpose is to collect the point cloud data of the upper part of the aircraft, and provide more accurate sensing results; the gimbal camera 2 is located in front of the unmanned aerial vehicle main body 1, above the horizontal line, to ensure that the line of sight is not affected by the protective cage 5, but can still be protected by the protective cage 5.

[0055] The floodlight 8 is installed on the node support at the intersection of the protective fence and the support rod 6 in front of the gimbal camera 2, and the direction is forward or upward, which provides light for the gimbal camera 2. The fill light 9 is installed below the mounting seat formed by the connecting rod of the optical flow laser module 4, and the direction is downward, which is consistent with the shooting direction of the optical flow sensor of the optical flow laser module 4, and provides protection for the optical flow positioning.

[0056] The photosensitive sensor 10 is installed on the side of the cabin of the unmanned aerial vehicle main body 1, which is used to sense the change of natural environment light, and then start and stop the fill light 9 and the floodlight 8. The top of the cabin of the unmanned aerial vehicle main body 1 is provided with the floodlight 8 close to the laser radar 3.

[0057] The WIFI module includes a WIFI antenna 7, the WIFI antenna 7 is electrically connected with the flight control module 13, the WIFI antenna 7 is installed on the protective cage 5 and closely arranged with the protective fence, and the WIFI antenna 7 includes two or more than two, which is used for relaying indoor WIFI signal.

[0058] The unmanned aerial vehicle system and device of the utility model are realized by relying on the existing technology algorithm, and do not belong to the content to be protected by the patent.

[0059] Specifically, the following algorithms are included:

[0060] Laser SLAM algorithm: based on the open source framework ROS, using the open source Faster-Lio algorithm, including front-end feature extraction and back-end optimization, combined with laser point cloud data, quickly generating high-precision indoor environment map and outputting accurate odometer data.

[0061] Data fusion algorithm: combined with IMU (inertial measurement unit), optical flow and laser sensor data, accurate estimation of the current unmanned aerial vehicle position and state is formed.

[0062] Path planning algorithm: using ego-planner algorithm, flight path planning in the environment with obstacles is realized.

[0063] Unmanned aerial vehicle control algorithm: PID algorithm is adopted to realize the attitude, speed, position and other controls of the unmanned aerial vehicle.

[0064] For those skilled in the art, it is obvious that the utility model is not limited to the details of the above exemplary embodiments, and can be realized in other specific forms without departing from the spirit or basic characteristics of the utility model. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting, the scope of the utility model is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the utility model. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. An indoor unmanned aerial vehicle (UAV) system based on laser SLAM, characterized in that: The system includes a flight control module (13), an NX module (15), a power supply module (14), an IMU module (12), an electronic speed controller (ESC) module (11), a gimbal camera (2), and a lidar (3). The lidar (3), gimbal camera (2), and IMU module (12) are all communicatively connected to the flight control module (13). The flight control module (13) is also communicatively connected to the optical flow laser module (4). The flight control module (13) is electrically connected to the power supply module (14), which is also electrically connected to the NX module (15). The flight control module (13) is communicatively connected to the ESC module (11). The laser radar (3) is used to collect the current position data of the UAV, the IMU module (12) is used to obtain the operating status of the UAV, the gimbal camera (2) is used to collect video data, and the optical flow laser module (4) is used to collect the speed data and position data of the UAV. The data collected by the laser radar (3) is processed by the NX module (15) and then transmitted to the flight control module (13). The data collected by the IMU module (12), the gimbal camera (2) and the optical flow laser module (4) are directly transmitted to the flight control module (13). The flight control module (13) performs overall processing on the received data.

2. The indoor unmanned aerial vehicle system based on laser SLAM according to claim 1, characterized in that: The flight control module (13) is also connected to a photosensitive sensor (10) for acquiring indoor ambient light data. The flight control module (13) controls the activation and deactivation of the floodlight (8) and / or the supplementary light (9).

3. The indoor unmanned aerial vehicle system based on laser SLAM according to claim 2, characterized in that: The floodlight (8) is positioned adjacent to the gimbal camera (2); the fill light (9) is positioned adjacent to the optical flow laser module (4).

4. The indoor unmanned aerial vehicle system based on laser SLAM according to claim 1, characterized in that: It also includes a heat dissipation module (16) for cooling the power module (14) and the NX module (15).

5. An indoor unmanned aerial vehicle (UAV) device based on laser SLAM, characterized in that: The unmanned aerial vehicle (UAV) system according to any one of claims 1-4 further includes a UAV body (1) and a protective cage (5). The electronic control module (11), IMU module (12), flight control module (13), power supply module (14) and NX module (15) of the UAV system are arranged in order from top to bottom in the cabin of the UAV body (1). The protective cage (5) is located on the outside of the UAV body (1) and connected to the UAV body (1). The gimbal camera (2) is located in front of the UAV body (1). The lidar (3) is obliquely located on the top of the UAV body (1). The optical flow laser module (4) is located behind the UAV body (1). The lidar (3), gimbal camera (2) and optical flow laser module (4) are all located inside the protective cage (5).

6. An indoor unmanned aerial vehicle (UAV) device based on laser SLAM according to claim 5, characterized in that: The protective cage (5) consists of multiple hexagonal protective railings arranged in a cross pattern. A circular support rod (6) is provided in the middle of the protective cage (5). The side of the cabin of the UAV body (1) is detachably connected to the protective cage (5). The bottom of the cabin of the UAV body (1) is detachably connected to the bottom of the protective cage (5). A node support is provided at the intersection of the protective railings and the support rod (6). The node support is detachably connected to the support rod (6) and the protective railings.

7. An indoor unmanned aerial vehicle (UAV) device based on laser SLAM according to claim 6, characterized in that: The gimbal camera (2) is installed above the cabin protective cage (5) of the main body of the drone (1), and the optical flow laser module (4) is installed below the cabin and protective cage (5) of the main body of the drone (1).

8. An indoor unmanned aerial vehicle (UAV) device based on laser SLAM according to claim 7, characterized in that: A photosensitive sensor (10) is installed on the side of the cabin of the UAV body (1), a floodlight (8) is installed in front of the gimbal camera (2), and the floodlight (8) is directed forward or upward; a fill light (9) is installed next to the optical flow laser module (4), and the fill light (9) is directed downward.

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