Unmanned aerial vehicle with visual positioning unloading device

Abstract

The utility model discloses an unmanned aerial vehicle with a visual positioning unloading device, and aims to solve the problem that the fixed-point throwing accuracy of an unmanned aerial vehicle in the prior art still needs to be improved. The unmanned aerial vehicle comprises an unmanned aerial vehicle body, a quick-release connector, an unloading device, a damping support and a positioning camera, the middle of the lower portion of the unmanned aerial vehicle body is connected with the unloading device through the quick-release connector, the damping support is arranged on the side of the lower portion of the unmanned aerial vehicle body, and the lower portion of the damping support is connected with the positioning camera through the quick-release connector; the controller module is connected with the unmanned aerial vehicle through a quick release connector, and the controller module is connected with a power supply port of the unloading device and the input end and the output end of a control signal through a TYPE-C line; wherein the positioning camera is connected with a controller module in the positioning camera through an MIPI interface circuit. The technology can adapt to the hanging condition that the cargo is large in size, an operator can conveniently and rapidly lock the area to be put, and the area to be put can be conveniently adjusted in real time according to the image displayed on the unmanned aerial vehicle remote controller.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned equipment technical field, especially contain visual positioning unloading device's unmanned vehicle. BACKGROUND

[0002] The unmanned aircraft is called "unmanned vehicle" for short, and the English abbreviation is "UAV", which is a no -person aircraft that is manipulated by using radio remote control equipment and self -provided program control device, compared with manned aircraft, unmanned vehicle is more suitable for those too "fool, dirty or dangerous" task, the industry application of unmanned vehicle + civil aspect is the real demand of unmanned vehicle, and the application in aerial photography, agriculture, plant protection, miniature self -photography, express delivery, disaster rescue, observation of wild animals, monitoring of infectious diseases, surveying and mapping, news report, power patrol, disaster relief, film shooting, manufacturing romance and the like greatly expands the purpose of unmanned vehicle itself.

[0003] Through the search, patent number: 202323468020.5, the utility model name for "a kind of unmanned vehicle containing stable unloading device" patent document records: "

[0037] when unmanned vehicle flies to specified place and needs to throw goods, the controller module of unmanned vehicle is controlled by remote controller and issues the command of unloading the first rudder 3-1 hanging load, the command of unloading the second rudder 3-2 hanging load, the command of unloading the third rudder 3-3 hanging load......the hanging rope of goods slowly slides on the edge of the slow-release slope of unloading hook 3-2 in the process of turning over, the hanging rope pulled downward is bound to naturally drop in the turning process of rudder 3-1, along with the slow-release slope obtained by switching on unloading hook 3-2, the edge of slow-release slope is arc curved surface, can guarantee that the delivery process is smooth and the reliability is high, can also avoid the interference caused by the short delivery time to the stability of unmanned vehicle, in addition, can also reduce the wear of hanging rope, the operator can issue the throw command at a certain time point before the area to be delivered, just can guarantee that the height of delivery point and the area to be delivered is consistent, since it considers that the hanging rope realizes delay drop through slow-release slope on unloading hook 3-2, avoids the interference caused by short delivery time to the stability of unmanned vehicle, and the wear of hanging rope is small.

[0004] Because the field of view of the front wide-angle lens of the unmanned aerial vehicle is limited, when the operator issues the dropping command, the unmanned aerial vehicle is inevitably not directly above the area to be dropped. When the field of view below the unmanned aerial vehicle cannot be accurately observed, the subjective judgment of the operator on the distance is deviated, and there are interference factors such as the external uncertain wind force, which will affect the final dropping position. In addition, when the field of view below the unmanned aerial vehicle can be accurately observed, sometimes the wind force factor also needs to be considered to set the dropping aiming point and the dropping position, so that the deviation after dropping is small, and the lifting action of the unmanned aerial vehicle does not need to be frequently operated. For example, in the mountainous or forest fire site, therefore, a kind of vertical visualized dropping position is needed, which is easy to realize accurate throwing. Content of the utility model

[0005] The utility model discloses to the problem that the precision of unmanned aerial vehicle fixed point throwing still needs to be improved in the prior art, provide a kind of unmanned aerial vehicle containing visual positioning unloading device with reasonable structure, efficient use.

[0006] The technical solution of the utility model is to provide an unmanned aerial vehicle containing visual positioning unloading device with the following structure: the unmanned aerial vehicle, quick release joint, unloading device, shock-absorbing support and positioning camera, the middle part below the unmanned aerial vehicle is connected to the unloading device through the quick release joint, the side part below is provided with the shock-absorbing support, the shock-absorbing support is connected to the positioning camera below through the quick release joint, the controller module is arranged in the positioning camera, the controller module is connected to the unmanned aerial vehicle through the quick release joint, and the controller module is connected to the power supply port, input end and output end of control signal of the unloading device through TYPE-C line;The controller module in the positioning camera is connected through MIPI interface circuit, the model of the main control chip of the controller module is RV1126, which is divided into three parts of main control chip J1, main control chip J2 and main control chip J3, pin A1 and pin A4 of TYPE-C interface are connected to GND pin and VCC pin in turn;Pin A2 and pin A3 of TYPE-C interface are connected to A19-A20 pin of main control chip J2 in turn;Pin A5 and pin A8 of TYPE-C interface are connected to A21-A22 pin of main control chip J3 in turn;Pin A6 and pin A7 of TYPE-C interface are connected to B28 of main control chip J2 and B23 of J1 in turn;Pin A9 and pin A12 of TYPE-C interface are connected to VCC pin and GND pin in turn;Pin A10-pin A11 of TYPE-C interface are connected to A27 of main control chip J3 and B28 of J3 in turn.

[0007] Preferably, the pins 13-16 of the MIPI interface in the MIPI interface circuit are connected to the B37-B40 pins of the master chip J1 in turn; the pin 4 of the MIPI interface is connected to the A8 pin of the master chip J2, the pin 19 of the MIPI interface is connected to the A4 pin of the master chip J2, the pin 20 of the MIPI interface is connected to the B4 pin of the master chip J2, and the pin 21 of the MIPI interface is connected to the A7 pin of the master chip J2.

[0008] Preferably, the unloading device comprises a shell, a rudder, a rudder power module, a mounting confirmation circuit and an unloading hook, the lower side of the unmanned aerial vehicle is connected to the outer side of the upper end of the shell through a quick release joint, a plurality of rudders are arranged in the shell, the output shaft of the rudder extends out of the shell and is connected to one side of the unloading hook, the power input end of the rudder is connected to the output end of the rudder power module, the control signal input end of the rudder is connected to the control signal output end of the controller module, and the output end of the mounting confirmation circuit is connected to the control signal input end of the controller module, wherein the upper surface of the unloading hook and the output shaft of the rudder is provided with a mounting groove, and the outer side of the lower surface is chamfered to form a slow-release slope.

[0009] Preferably, the mounting confirmation circuit is 4-way, each way comprising a key switch, a voltage detection resistor, a voltage dividing resistor and a 3.3V terminal, wherein the 3.3V terminal is connected to the ground in turn after being connected to the voltage dividing resistor, the voltage detection resistor and the key switch, the connection points of the voltage dividing resistor and the voltage detection resistor are connected to the A27 and B28 pins of the master chip J3, and the voltage detection resistors connected to the same pin have different resistance values.

[0010] Preferably, the input A27 and B28 pins of the master chip J3 receive the voltage signals output by the mounting confirmation circuit to indicate whether the mounting is completed.

[0011] Preferably, the positive electrode of the rudder is connected to the positive electrode of the rudder power module, the negative electrode of the rudder is connected to the negative electrode of the rudder power module, the A19, A20 and B28 pins of the master chip J2, and the B23 pin of the master chip J1 output PWM waveforms with the same frequency and different duty cycles to control the four rudders to rotate to a predetermined angle.

[0012] Preferably, the rotation angle of the rudder is α, wherein 0°≤α≤180°.

[0013] Preferably, the A21 and A22 pins of the master chip J2 are connected to the unmanned aerial vehicle control module through the UART5 interface and are powered through the PSDK interface of the unmanned aerial vehicle.

[0014] Preferably, the model of the camera module in the positioning camera is GC2053.

[0015] Compared with the prior art, the unmanned aerial vehicle with the visual positioning and unloading device has the following advantages:

[0016] 1. The positioning camera and the unloading device directly below the unmanned aerial vehicle are pulled apart by the shock-absorbing support and the TYPE-C connecting line at the lateral part of the unmanned aerial vehicle, so that the mounting condition of the cargo with large volume can be adapted, the probability of blocking the field of view directly below the positioning camera is reduced, and the estimated dropping point can be accurately determined.

[0017] 2. The shock-absorbing support can ensure the stability of the image observed by the positioning camera thereon, and the positioning camera can easily and completely obtain the video picture of the place to be dropped below, and has a good overhead view.

[0018] 3. The operator can quickly lock the area to be dropped, according to the image displayed on the display screen of the unmanned aerial vehicle remote controller, and then refer to the on-site wind direction, so that the area to be dropped can be adjusted in real time.

[0019] 4. When extinguishing a mountain or forest fire, the unmanned aerial vehicle does not need to frequently change the height to avoid the influence of the airflow and high temperature of the fire site, the dropping accuracy of the fire extinguishing bomb is improved, the fire extinguishing efficiency is improved, the consumption of the fire extinguishing bomb is saved, and the power consumption of the unmanned aerial vehicle in the frequent climbing process is saved. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is one of the schematic views of the three-dimensional structure in the utility model;

[0021] Figure 2 is a side view of the unloading device at the position A in the utility model; Figure 1

[0022] Figure 3 is one of the schematic views of the three-dimensional structure of the unloading device in the utility model;

[0023] Figure 4 is the second schematic view of the three-dimensional structure of the unloading device in the utility model;

[0024] Figure 5 is a sectional view structure schematic view of the position D-D in the utility model; Figure 2

[0025] Figure 6 is a sectional view structure schematic view of the position E-E in the utility model; Figure 2

[0026] Figure 7 is an enlarged structure schematic view of the position B in the utility model; Figure 1

[0027] Figure 8 is an enlarged structure schematic view of the position B in the utility model; Figure 1 ​​​​The enlarged structure schematic view of positioning camera at the bid number C;

[0028] Figure 9 The plan view of the positioning camera in the utility model;

[0029] Figure 10 The bottom view of the positioning camera in the utility model;

[0030] Figure 11 The circuit diagram of the main control chip in the utility model is one of;

[0031] Figure 12 The circuit diagram of the main control chip in the utility model is two of;

[0032] Figure 13 The circuit diagram of the main control chip in the utility model is three of;

[0033] Figure 14 The MIPI interface circuit diagram of the positioning camera in the utility model;

[0034] Figure 15 The circuit diagram of the TYPE-C interface in the utility model;

[0035] Figure 16 The circuit diagram of the rudder motor power supply in the utility model;

[0036] Figure 17 The circuit diagram of the mounting confirmation circuit in the utility model.

[0037] The drawing shows that the bid number 1 is a unmanned plane, 2 is a shell, 3 is an unloading device, 4 is a anti-drop rope block, 5 is a TYPE-C connecting line, 6 is a unmanned plane, 7 is a shock-absorbing support, 8 is a positioning camera.

[0038] 3-1 is a rudder motor, 3-2 is an unloading hook, 3-3 is a button switch. DETAILED DESCRIPTION

[0039] In order to make the personnel in the technical field better understand the utility model scheme, the technical scheme in the utility model embodiment will be described clearly and completely in the following with the drawings in the utility model embodiment, obviously, the described embodiment is only a part of the embodiment of the utility model, not all. Based on the embodiment in the utility model, all other embodiments obtained by the ordinary skill in the art without creative labor should belong to the scope of the utility model protection.

[0040] The utility model unmanned plane with visual positioning unloading device will be further described in the following with the drawings and specific embodiments: as Figures 1-17As shown, the embodiment contains unmanned aerial vehicle 6, quick release joint 1, unloading device 3, shock-absorbing support 7 and positioning camera 8. Unmanned aerial vehicle 6 is connected to unloading device 3 through quick release joint 1 in the middle below, and is provided with shock-absorbing support 7 on the side below. Shock-absorbing support 7 is connected to positioning camera 8 through quick release joint 1 below, and positioning camera 8 is provided with controller module inside. Controller module is connected to unmanned aerial vehicle 6 through quick release joint 1, and is connected to the power supply port and the input and output ends of the control signal of unloading device 3 through TYPE-C line. Positioning camera 8 is connected to the controller module inside through MIPI interface circuit, and the model of the camera module in positioning camera 8 is GC2053. The model of the main control chip of the controller module is RV1126, which is divided into three parts: main control chip J1, main control chip J2 and main control chip J3. Pin A1 and pin A4 of TYPE-C interface are connected to GND pin and VCC pin in turn. Pin A2 and pin A3 of TYPE-C interface are connected to A19-A20 pin of main control chip J2 in turn. Pin A5 and pin A8 of TYPE-C interface are connected to A21-A22 pin of main control chip J3 in turn. Pin A6 and pin A7 of TYPE-C interface are connected to B28 pin of main control chip J2 and B23 pin of J1 in turn. Pin A9 and pin A12 of TYPE-C interface are connected to VCC pin and GND pin in turn. Pin A10-pin A11 of TYPE-C interface are connected to A27 pin of main control chip J3 and B28 pin of J3 in turn.

[0041] As shown in Figure 14 MIPI interface of MIPI interface circuit is connected to B37-B40 pin of main control chip J1 in turn through pin 13-pin 16. Pin 4 of MIPI interface is connected to A8 pin of main control chip J2, pin 19 of MIPI interface is connected to A4 pin of main control chip J2, pin 20 of MIPI interface is connected to B4 pin of main control chip J2, and pin 21 of MIPI interface is connected to A7 pin of main control chip J2.

[0042] The scheme is responsible for serial communication with unmanned aerial vehicle platform through 1 UART or USART interface, and transmits video stream data to unmanned aerial vehicle 6 through an ETHNET network interface, and the chip model is RTL8211. Unmanned aerial vehicle 6 can be various models of unmanned aerial vehicles sold on the market, such as DJI unmanned aerial vehicle. Unloading device 3 is connected below unmanned aerial vehicle 6 through quick release joint 1, can carry out cargo throwing work according to the video indication on the display screen of the remote controller in the designated area, and can ensure that the throwing process of the cargo is a slow descending process, and finally the unmanned aerial vehicle 6 can maintain good stability when unhooking. Quick release joint 1 can be various models and types of quick release joints sold on the market, such as DJI unmanned aerial vehicle interface.

[0043] As shown in Figures 2-7As shown, the unloading device 3 contains a shell 2, a rudder 3-1, a rudder power module, a mounting confirmation circuit and an unloading hook 3-2, the lower side of the unmanned aerial vehicle 6 is connected to the outer side of the upper end of the shell 2 through a quick release joint 1, a plurality of rudders 3-1 are arranged in the shell 2, the output shaft of the rudder 3-1 is connected to one side of the unloading hook 3-2 after extending out of the shell 2, the power input end of the rudder 3-1 is connected to the output end of the rudder power module, the control signal input end of the rudder 3-1 is connected to the control signal output end of the controller module, and the output end of the mounting confirmation circuit is connected to the control signal input end of the controller module, wherein the upper surface of the unloading hook 3-2 and the output shaft of the rudder 3-1 are provided with a mounting groove, and the outer side of the lower surface is chamfered to form a slow-release slope.

[0044] As shown in Figure 11 , 12 , 13, 16 and 17, the mounting confirmation circuit is 4-way, each way contains a key switch 3-3, a voltage detection resistor, a voltage dividing resistor and a 3.3V terminal, wherein the 3.3V terminal is connected to ground in series with the voltage dividing resistor, the voltage detection resistor and the key switch 3-3 in turn, and the connection points of the voltage dividing resistor and the voltage detection resistor are connected to the A27 and B28 pins of the main control chip J3 respectively, while the voltage detection resistors connected to the same pin have different resistance values.

[0045] The rudder 3-1 has an initialization state after being powered on, so that the unloading hook 3-2 thereon remains in a horizontal state of 0 degrees, at which time the hook thereon is easy to hang the mounting rope of the goods, when the operator presses the key switch 3-3 in the corresponding mounting confirmation circuit, the unloading hook 3-2 will be flipped from the horizontal state to a 90-degree state, due to the mounting groove provided on the upper surface of the unloading hook 3-2 and the output shaft of the rudder 3-1, the opening of the mounting groove faces the anti-drop rope block 4 above or directly above, at this time the mounting rope of the goods is not easy to fall off under the block of the anti-drop rope block 4, so that some mounting ropes will not fall off when the unmanned aerial vehicle 6 flies up. Concretized to the working scene, the rotation angle of the rudder 3-1 can be from 90 degrees on the vertical side to -90 degrees below, and under the action of the slow-release slope, it is slowly and reliably realized to naturally drop, which ensures that the delivery process is smooth and has high reliability, and can also avoid the interference of the short delivery process time on the stability of the unmanned aerial vehicle 6. Generally, it can be realized to reliably throw and deliver at about 0 degrees horizontally.

[0046] Taking one pair as an example, after the key switch 3-3 is pressed, because the voltage detection resistor with different resistance values and the voltage dividing resistor with the same resistance value are connected in the path between the key switch 3-3 and the main control chip RV1126, the A27 pin of the main control chip J3 will receive different voltage signals, so that the loading state of the rudder 3-1 represented by the different key switches 3-3 can be identified.

[0047] The following is an example of the unloading process of the first steering gear 3-1. When the unmanned aerial vehicle 6 flies to the designated location and needs to throw the cargo, the unloading location is determined through the center picture of the camera. The image transmits video stream data to the unmanned aerial vehicle 6 through an ETHNET network interface. In addition, it can also be processed through a software algorithm to draw a cross cursor in the center of the video data picture. The position corresponding to the cross cursor is the throwing point, which can further accurately and quickly determine the dropping location. The controller module of the remote controller sends a command to unload the first steering gear 3-1 to the unmanned aerial vehicle 6 platform through the UART or USART interface. At this time, the A19, A20, B28 pins of the main control chip J2 corresponding to the steering gear 3-1 and one of the B23 pins of the main control chip J1 output the same frequency PWM waveform with different duty cycles to control the rotation to the predetermined angle. The first steering gear 3-1 rotates from the vertical state (i.e. the hanging slot is upward, which is recorded as 90 degrees) to -90 degrees downward vertical, and then returns to the horizontal 0 degree state. During the flipping process, the hanging rope of the cargo slowly slides on the edge of the slow-release slope of the unloading hook 3-2. The downward pulling hanging rope will naturally fall along with the slow-release slope obtained by switching the unloading hook 3-2 during the flipping process of the steering gear 3-1. The edge of the slow-release slope is an arc surface, which can ensure smooth and reliable throwing process, avoid the interference of short throwing time on the stability of the unmanned aerial vehicle 6, and also reduce the wear of the hanging rope.

[0048] The following describes the use of the present application in fire extinguishing. The conventional unmanned aerial vehicle 6 flies at a height of 50 to 200 meters from the ground. Taking DJI-M350RTK as an example, since it only has one front-view camera, the observation field of view directly below it is limited or insufficient. The total weight of the four unloading hooks 3-2 in the unloading device 3 mounted on it can reach about 4 kilograms. When extinguishing forest fires in mountainous areas, multiple identical or different fire extinguishing bombs are usually mounted.

[0049] Without the help of the vertically downward pointing positioning camera 8, when it is necessary to scatter and throw to achieve overall control of the fire, sometimes different throwing points are affected differently by the airflow fluctuations caused by the size of the fire. Sometimes the altitudes of different burning points are also different. Sometimes the unmanned aerial vehicle 6 may need to switch different heights multiple times before transporting and throwing the fire extinguishing bombs for clear observation. Sometimes, in order to prevent some residual fire points from rekindling, the height of the unmanned aerial vehicle 6 is usually lowered. After observing the throwing point with the highest rekindling possibility, the position of the unmanned aerial vehicle 6 is adjusted, and the actual throwing position is estimated. When the deviation is not large, it is thrown. Due to the smoke in the fire field or the subjective deviation of the operator, the final throwing deviation may occur.

[0050] If there is a help of the camera 8 towards the vertical downward positioning, the dropping place can be determined accurately and quickly at a relatively appropriate height and dropped. The phenomenon that the operator releases the fire extinguishing bomb in advance to deviate from the estimated landing point is avoided, the unmanned aerial vehicle 6 is avoided from frequently ascending and descending to avoid the influence of the airflow and high temperature of the fire site, the unmanned aerial vehicle 6 can quickly reach the fire point at different altitudes, the degree of operation of the unmanned aerial vehicle 6 can be reduced, the fire extinguishing efficiency is improved, the consumption of the fire extinguishing bomb is saved, meanwhile, the power consumption of the unmanned aerial vehicle 6 in the frequent climbing process is also saved.

[0051] The model of the main control chip in the controller module is RV1126, the input end A27 and the B28 pin of the main control chip J3 receive the 4-way voltage signals output by the mounting confirmation circuit whether the mounting is completed, the A19, A20 and B28 pins of the main control chip J2, and the B23 pin of the main control chip J1 respectively output the PWM waveforms with the same frequency and different duty cycles to control the 4 rudders 3-1 to rotate to the predetermined angle. The positive pole of the rudder 3-1 is connected to the positive pole of the rudder power module, the negative pole is connected to the negative pole of the rudder power module, and the rotating angle of the rudder 3-1 is α, wherein 0°≤α≤180°. The A21 and A22 pins of the main control chip J2 are connected to the unmanned aerial vehicle 6 control module through the UART5 interface, and are powered through the PSDK interface of the unmanned aerial vehicle 6.

Claims

1. A drone containing a visualized positioning offloading device, characterized by: The unmanned aerial vehicle, quick release joint, unloading device, shock absorbing support and positioning camera are connected through the quick release joint, the lower side of the unmanned aerial vehicle is connected with the outer side of the upper end of the shell through the quick release joint, the inside of the shell is provided with a plurality of rudders, the output shaft of the rudder is connected with one side of the unloading hook after extending out of the shell, the power input end of the rudder is connected with the output end of the rudder power module, the control signal input end of the rudder is connected with the control signal output end of the controller module, the output end of the mounting confirmation circuit is connected with the control signal input end of the controller module, wherein the upper surface of the unloading hook and the output shaft of the rudder is provided with a mounting groove, and the outer side of the lower surface is chamfered to form a slow-release slope.

2. The UAV containing a visualized positioning offloading device according to claim 1, wherein: The pin A1 and the pin A4 of the TYPE-C interface are connected with the GND pin and the VCC pin in sequence; the pin A2 and the pin A3 of the TYPE-C interface are connected with the A19-A20 pin of the main control chip J2 in sequence; the pin A5 and the pin A8 of the TYPE-C interface are connected with the A21-A22 pin of the main control chip J3 in sequence; the pin A6 and the pin A7 of the TYPE-C interface are connected with the B28 pin of the main control chip J2 and the B23 pin of the main control chip J1 in sequence; the pin A9 and the pin A12 of the TYPE-C interface are connected with the VCC pin and the GND pin in sequence; and the pin A10-A11 of the TYPE-C interface are connected with the A27 pin of the main control chip J3 and the B28 pin of the main control chip J3 in sequence.

3. The UAV containing a visualized positioning offloading device according to claim 1, wherein: The pin 13-pin 16 of the MIPI interface in the MIPI interface circuit are connected with the B37-B40 pin of the main control chip J1 in sequence; the pin 4 of the MIPI interface is connected with the A8 pin of the main control chip J2, the pin 19 of the MIPI interface is connected with the A4 pin of the main control chip J2, the pin 20 of the MIPI interface is connected with the B4 pin of the main control chip J2, and the pin 21 of the MIPI interface is connected with the A7 pin of the main control chip J2.

4. The UAV containing a visualized positioning offloading device according to claim 3, wherein: The unloading device contains a shell, a rudder, a rudder power module, a mounting confirmation circuit and an unloading hook, the lower side of the unmanned aerial vehicle is connected with the outer side of the upper end of the shell through the quick release joint, the inside of the shell is provided with a plurality of rudders, the output shaft of the rudder is connected with one side of the unloading hook after extending out of the shell, the power input end of the rudder is connected with the output end of the rudder power module, the control signal input end of the rudder is connected with the control signal output end of the controller module, the output end of the mounting confirmation circuit is connected with the control signal input end of the controller module, wherein the upper surface of the unloading hook and the output shaft of the rudder is provided with a mounting groove, and the outer side of the lower surface is chamfered to form a slow-release slope.

5. The UAV containing a visualized positioning offloading device according to claim 4, wherein: The mounting confirmation circuit is 4-way, each way contains a key switch, a voltage detection resistor, a voltage dividing resistor and a 3.3V terminal, wherein the 3.3V terminal is connected with the ground in sequence after being connected with the voltage dividing resistor, the voltage detection resistor and the key switch in sequence, the connection points of the voltage dividing resistor and the voltage detection resistor are connected with the A27 and B28 pins of the main control chip J3, and the voltage detection resistors connected with the same pin have different resistance values. The input end A27 and the B28 pin of the main control chip J3 receive the voltage signals of whether the mounting is completed output by the mounting confirmation circuit.

6. The UAV containing a visualized positioning offloading device according to claim 3, wherein: The positive pole of the steering engine is connected with the positive pole of the steering engine power module, the negative pole is connected with the negative pole of the steering engine power module, A19, A20 and B28 pins of the main control chip J2 and the B23 pin of the main control chip J1 respectively output the same frequency and different duty cycle PWM waveforms to control the rotation of the four steering engines to the predetermined angle.

7. The UAV containing a visualized positioning offloading device according to claim 3, wherein: The steering engine rotation angle is alpha, wherein 0°≤ alpha ≤ 180°.

8. The UAV with visualized positioning offloading device of claim 1, wherein: The A21 and A22 pins of the main control chip J2 are connected with the unmanned aerial vehicle control module through the UART5 interface, and are powered through the PSDK interface of the unmanned aerial vehicle.

9. The UAV with visualized positioning offloading device of claim 1, wherein: The model of the camera module in the positioning camera is GC2053.

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