CN113911373B - Industrial unmanned aerial vehicle - Google Patents

Abstract

The invention relates to the technical field of unmanned aerial vehicle equipment, in particular to an industrial unmanned aerial vehicle, which solves the technical problem that the industrial unmanned aerial vehicle in the prior art cannot get rid of the obstacle through its own actions when encountering a blocking type fault, Specifically, the rotor part is arranged at the end of the rotor arm away from the body; in the working state, each rotor part takes the first direction as the power output direction; in the fault state, the rotor part can be changed from the first direction to the extension direction of the rotor arm. Attitude, current detection unit, which is used to detect the real-time working current of each rotor part; detection and judgment unit, which is used to compare the real-time working current of each rotor part with a preset current value; The specific structural design of the industrial drone that can effectively get rid of the blocking obstacle increases the probability of the industrial drone getting rid of the obstacle by changing the power output direction and method of the rotor part.

Description

an industrial drone

technical field

The invention relates to the technical field of unmanned aerial vehicle equipment, in particular to an industrial unmanned aerial vehicle.

Background technique

Under the current trend, drones continue to gradually penetrate and penetrate in various fields of production and life, and the application scenarios are more comprehensive; the types of equipment carried by drones are also expanding, especially industrial drones, which are responsible for detection, surveying and mapping. and more important tasks.

In the current method, when drones receive work tasks, the difficulty of the tasks continues to increase, and the development trend is toward low-altitude areas for shooting, surveying and mapping tasks, and inevitably encounter obstacles, such as surveying and mapping industrial drones will encounter towering tree obstacles, etc. . The problem with the existing technology is: for the obstacles caused to the UAV in the low-altitude area, when the UAV cannot avoid it in time, the UAV will be restricted and stuck on the obstacle, or even fall when the power system stops working. damage, which will cause damage to the UAV and the equipment carried by the UAV. The trend of solving the problem in the prior art is based on the Chinese invention application, publication number CN112114590A, and the title of the patent application is "A UAV Automatic Detection and Avoidance Obstacle System" The application discloses a UAV automatic detection and avoidance obstacle system. The intermittent scanning unit continuously scans the front of the drone. When an obstacle is detected, the continuous scanning unit will return the obstacle information to the co-processing module. The obstacle information includes the obstacle signal and direction information, and the direction information is where the obstacle is located. direction; the co-processing module receives the obstacle information transmitted by the continuous scanning unit, and then automatically combines the ranging unit and the identification module to analyze the obstacle information; judge whether the corresponding obstacle is a fixed obstacle or a movable obstacle. It can be seen from the technical solution of the patent application that the existing methods for solving obstacles mainly aim at pre-judgment and avoidance, while for obstacles such as trees in the low sky and erected cables, there is an open space formed by the obstacles themselves when identifying them. , which will lead to detection and identification problems, and then in some complex or unexpected situations, industrial drones will still be blocked by this type of obstacles.

Based on the above, an industrial drone should be proposed, which can get rid of the obstacles through its own actions when encountering the above-mentioned blocking type failures.

SUMMARY OF THE INVENTION

The invention aims to solve the technical problem that the industrial drone in the prior art cannot get rid of the obstacle through its own actions when encountering a blocking type failure, and provides an industrial drone.

In order to solve the above-mentioned technical problems, the technical scheme of the present invention is as follows:

An industrial unmanned aerial vehicle with an umbrella bag landing compartment, characterized in that it includes:

An even number of rotor arms with a fuselage in rotational symmetry and evenly arranged;

a rotor part, arranged at one end of the rotor arm away from the body;

In a working state, each of the rotor parts takes the first direction as the power output direction;

In a fault condition, the rotor part can move toward the rotor arm from the first direction

The extension direction transforms the posture, and the posture includes:

In the first posture, the power output direction of the rotor part is transformed into the extension direction of the rotor arm;

In the second posture, the power output direction of the rotor portion is transformed into a tangential direction in which a plurality of the rotor arms form a virtual circle;

a current detection unit, which is used to detect the real-time working current of each of the rotor parts;

a detection and determination unit, which is used for comparing the real-time working current of each of the rotor parts with a preset current value;

Wherein, when the real-time working current exceeds the preset current value, each rotor part is controlled to stop working by a sorting execution unit, and at the same time, the sorting execution unit can also drive a gravity balance module to work;

The gravity balance module is used to detect the gravitational acceleration of the fuselage when working, and when the gravitational acceleration exceeds a preset speed value, the parachute bag landing compartment can be controlled to open;

Wherein, when the real-time working current exceeds the preset current value and the gravitational acceleration does not exceed the preset speed value, the rotor part whose real-time working current detection result is the maximum value is transformed into the first attitude ;

When in the first attitude, the rotor part is driven by an execution module, and when the rotor part exceeds the preset current value again, the adjacent rotor part changes to the second attitude;

Wherein, when the gravity balance module detects the gravitational acceleration of the fuselage again, and in the state of failure, the rotor part changes to the reset posture.

Specifically, the rotor section includes:

propeller;

a propeller shaft, one end of which is connected to the propeller, and the other end of which is connected to the output end of a first motor;

The first motor is mounted on a propeller seat.

Specifically, the rotor arm includes:

The first suspension part is configured as two first suspension bodies arranged oppositely;

The first suspension shaft is connected between the two first suspension bodies through bearings, so as to

enabling the first suspension shaft to rotate;

a first suspension connection part, which is fixed on the first suspension shaft and located between the two first suspension bodies;

a first connecting handle, one end of which is connected to one end of the first suspension connecting portion, and the other end of which is connected to the radial direction of the propeller seat;

The output end of the second motor is connected with the first suspension shaft, and the second motor is mounted on the first suspension body.

Specifically, the first connecting handle forms a curved space, and the propeller seat is arranged in the curved space.

Specifically, the rotor arm also includes:

The second suspension part is connected with the two first suspension bodies respectively through two sets of wing bars;

a second rotating shaft part, which is rotatably arranged on the second suspension part and can rotate to both sides of the second suspension part;

An output end of a third motor is connected above the second shaft portion;

the third motor is erected on the second suspension part;

an extension connection part, two sides of the second rotating shaft part are respectively extended to form an extension connection part, and the two extension connection parts can be rotatably connected to a balance link;

The balance link is perpendicular to the second shaft portion.

Specifically, it also includes:

a stabilizing link connected to the first suspension link away from the first link

one end of the handle;

the stabilization link is parallel to the balance link;

Two parallel-arranged synchronizing links are respectively spherically connected to both ends of the stabilizing link and the balance link.

Specifically, a rotor plate is connected to one end of the second suspension portion away from the propeller;

In the working state, the stabilization link, the balance link and the two synchronization links form a virtual rectangle, and the rotor plate and the virtual rectangle are located on the same plane.

Specifically, the current detection unit includes:

A current detection module, which is connected to the power terminal of the first motor, is used to transmit

input the real-time working current of the first motor;

a current conversion module, which is used to convert the real-time working current of the first motor into a numerical value;

The detection and judgment unit includes:

a preset module, which is used to preset a preset current value corresponding to the number of the rotor parts;

a comparison module, which is used for receiving the current value of the current conversion module, and comparing the current value with the preset current value of the preset module;

a distinction module, which outputs a first fault signal based on the comparison result of the comparison module;

The recording module is used for recording the corresponding position of each of the first motors exceeding the preset current value.

Specifically, the sorting execution unit includes:

a fault signal receiving module, which is used for receiving the first fault signal;

The gravity balance module includes:

A gravitational acceleration detection module, which can receive the first fault signal and call an acceleration detector set on the fuselage. When the detection result of the acceleration detector exceeds the set speed, a first execution module receives the gravitational acceleration detection module The overspeed signal and the first fault signal are generated to drive the opening of the parachute bag drop bay of the fuselage.

Specifically, when the detection result of the acceleration detector is within a preset speed range, the second execution module receives the speed signal and the first fault signal generated by the gravitational acceleration detection module, and transmits them to a calling module, The calling module is used to call the corresponding record of the position of the first motor generated by the recording module, and drive the second motor;

Secondary detection module, which detects that there is a unique implementation current value in the recording module

At the time, based on the position of the rotor portion corresponding to the real-time current, a third motor of the rotor portion at the adjacent position of the real-time current corresponding to the rotor portion is driven by a third execution module;

a fourth execution module, which receives the speed signal and the first fault signal, and when only the speed signal is received, resets the first motor for driving the rotor part, so that each of the The rotor part is changed to the reset attitude.

The present invention has the following beneficial effects:

In the first aspect, the technical solution provides a specific structural design of an industrial drone that can effectively get rid of blocking obstacles, and increases the probability of the industrial drone getting rid of obstacles by changing the power output direction and method of the rotor part;

In the second aspect, the design of this technical solution for the extreme situation of self-protection of the UAV in a fault state ensures the landing safety of the UAV; in addition, considering the subsequent take-off after getting rid of the obstacle, this technical solution also gives preferred embodiment.

Description of drawings

The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

Fig. 1 is the structural representation of the rotor arm of the present invention;

Fig. 2 is an embodiment of the first posture of the present invention;

Fig. 3 is the embodiment of the reset posture of the present invention;

Fig. 4 is the unit configuration schematic diagram of the present invention;

5 is a schematic diagram of a module configuration of the present invention;

Fig. 6 is the three-dimensional schematic diagram of the rotor part of the present invention;

7 is a schematic diagram of an embodiment of the second posture of the present invention;

FIG. 8 is a partial enlarged view of the reset posture of the present invention.

The reference numbers in the figures are indicated as:

Umbrella bag landing compartment 4, fuselage 1, rotor arm 2, rotor part 3, virtual circle 1001, current detection unit 100, detection and judgment unit 200, finishing execution unit 300, gravitational acceleration G, gravity balance module 400, execution module 500 ;

Propeller 31, propeller shaft 32, first motor 33, propeller seat 34, second motor 35;

a first suspension portion 21, a first suspension body 211, a first suspension shaft 22, a first suspension connection portion 23, and a first connection handle 24;

The bending space 204, the second suspension part 210, the two sets of wing bars 222, the extension connection part 223 of the second shaft part 221, the balance link 224, the stabilization link 225, the synchronization link 226, and the rotor plate 227;

a current detection module 101, a current conversion module 102, a preset module 2100, a comparison module 220, a distinction module 230, and a recording module 240;

Fault signal receiving module 310, first fault signal A1, acceleration detector 402, first execution module 501, second execution module 502, speed signal V0, secondary detection module 320, fourth execution module 504, overspeed signal V1.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention; it should be noted that, for the convenience of description, in this application, In the current view, the "left side" is the "first end", the "right side" is the "second end", the "upper side" is the "first end", and the "lower side" is the "second end", so described The purpose is to clearly express the technical solution, which should not be construed as an improper limitation of the technical solution of the present application.

The invention aims to solve the technical problem that the industrial drone in the prior art cannot get rid of the obstacle through its own actions when encountering a blocking type failure. The main research model can be understood as the main form of surveying and mapping in the dense forest. It should be noted that there is obviously a problem of probability of getting rid of obstacles mentioned in this application, but the specific technical solutions and technologies provided by this technical solution The idea has practical significance in practical application.

For a specific introduction to this technical solution, please refer to Figures 2, 3, and 4. An industrial UAV has an umbrella bag landing compartment 4, and the umbrella bag landing compartment 4 is arranged on the top of the drone fuselage 1 and is used for The parachute is deployed to protect the safe landing of the drone. The specific technical solution includes: an even number of rotor arms 2 that are rotationally symmetrical and evenly arranged with a fuselage 1; The configuration of the specific technical solution proposed by the man-machine, further, has a rotor part 3, which is arranged at the end of the rotor arm 2 away from the body 1;

In a working state, each rotor part 3 takes the first direction as the power output direction, as shown in Figure 3

shown, the UAV in this technical solution is in a normal flight state;

In a fault state, the rotor part 3 can change its posture from the first direction to the extending direction of the rotor arm 2

posture, which includes:

In the first attitude, the power output direction of the rotor part 3 is changed to the extension direction of the rotor arm 2. As shown in FIG. 2, the rotor part 3 changes the power direction, so that the industrial drone passes the power used by the rotor part 3 to fly. Get rid of obstacles, and for obstacles such as dense forests and tree branches in the main application cases of this technical solution, this kind of active escape can obviously help industrial drones;

In addition, in the second posture, the power output direction of the rotor part 3 is transformed into the tangential direction of the plurality of rotor arms 2 to form a virtual circle 1001; it is equivalent to making power output in other directions;

The specific working mode is: the current detection unit 100 is used to detect the real-time working current of each rotor part 3; The working current increases gradually, because the limitation of obstacles causes the continuous increase of the working current of the rotor part 3; further, a detection and judgment unit 200 is used to compare the real-time working current of each rotor part 3 with a preset Compare the current value;

Wherein, when the real-time working current exceeds the preset current value, each rotor part 3 is controlled to stop working by a sorting execution unit 300, which is equivalent to safety protection, and at the same time, a sorting execution unit 300 can also drive a gravity balance module 400 jobs;

The gravity balance module 400 is used to detect the gravitational acceleration G of the fuselage 1 when it is working. When the gravitational acceleration G exceeds a preset speed value, it means that in the safety protection state, the obstacle is not restricting the drone, and the acceleration of gravity increases or decreases instantaneously. The speed value indicates that the industrial drone itself is falling, and at this time, the parachute bag landing compartment 4 is opened, and the umbrella bag landing compartment 4 can be controlled to open is the best time, which can effectively protect the industrial drone equipment and its carrying capacity. testing equipment;

In another case, when the real-time working current exceeds the preset current value, and the gravitational acceleration G does not exceed the preset speed value, a rotor part 3 whose real-time working current detection result is the maximum value is transformed into the first posture;

It can be judged that the industrial drone is in a restricted state and has not fallen. At this time, changing the first attitude and changing the power output direction of the rotor part 3 will have a probability of getting rid of the obstacle, and the power output source generated by getting rid of the obstacle is based on the current current at that time. The reason for changing the attitude of the rotor part 3 with the largest detected value is that the rotor part 3 with the largest instantaneous current is the center at the time of the occurrence of the fault, and the reason for the occurrence of the blocked type fault is that the rotor part 3 is limited and the operating current is applied. Exceeds, and at this moment the rotor part 3 changes the posture action, then is the best implementation way to get rid of the current blocking-type obstacle;

When in the first attitude, the rotor part 3 is driven by an execution module 500, and when the rotor part 3 exceeds the preset current value again, the adjacent rotor part 3 changes to the second attitude, and the second attitude change is a deflected dynamic direction;

Wherein, when the gravitational balance module 400 detects the gravitational acceleration G of the fuselage 1 again, and in a state of failure, the rotor part 3 changes to the reset posture.

In a specific embodiment, please refer to FIGS. 1 , 2 , 3 , 6 , and 8 , the rotor part 3 includes: a propeller 31 ; one end of the propeller shaft 32 is connected to the propeller 31 , and the other end is connected to a first motor 33 . Output end; the first motor 33 is installed on a propeller seat 34 , and the first motor 33 is the power component of the rotor part 3 .

In a specific embodiment, please refer to FIGS. 1 , 2 and 3 , the rotor arm 2 includes: a first suspension part 21 , which is configured as two first suspension bodies 211 arranged opposite to each other; The shaft 22 is connected between the two first suspension bodies 211 through a bearing, so that the first suspension shaft 22 can rotate; in this way, the change of the first posture is realized;

In a specific structural embodiment, the first suspension connecting part 23 is fixed on the first suspension shaft 22 and is located between the two first suspension bodies 211 ; the first connecting handle 24 is connected with one end One end of the first suspension connecting part 23 is connected to the radial direction of the propeller base 34; the output end of the second motor 35 is connected to the first suspension shaft 22, and the second motor 35 is installed on the first suspension body 211 on.

The structural design based on the balance of the industrial drone makes the shape of the rotor arm 2 more streamlined when the attitude is changed. Specifically, a curved space 204 is constructed for the first connecting handle 24, and the propeller seat 34 is arranged in the curved space 204. Inside.

Further, the rotor arm 2 further includes: a second suspension part 210, which is connected to the two first suspension bodies 211 respectively through two sets of wing rods 222; a second rotating shaft part 221, which is rotatably arranged on the second on the suspension part 210, and can rotate to both sides of the second suspension part 210; the upper part of the second shaft part 221 is connected to the output end of a third motor 25; in this way, the change of the second posture is realized, and the third motor is erected on the on the second suspension portion 210;

Further, in order to ensure the continuity and stability of the action of the rotor arm 2, the extension connecting portion 223 and the two sides of the second rotating shaft portion 221 are respectively extended to form an extension connecting portion 223, and the two extending connecting portions 223 can be rotatably connected to a balance. Connecting rod 224; the balance connecting rod 224 is perpendicular to the second shaft portion 221.

Specifically, it also includes: a stabilizing link 225, which is connected to the end of the first suspension connecting portion 23 away from the first connecting handle 24; the stabilizing link 225 is parallel to the balancing link 224; two synchronizing links arranged in parallel 226, which are respectively connected to the two ends of the stabilizing link 225 and the balance link 224 in a spherical shape.

In more detail, the end of the second suspension portion 210 away from the propeller 31 is connected with a rotor plate 227;

In the working state, the stabilizing link 225 , the balance link 224 and the two synchronizing links 226 form a virtual rectangle, and the rotor plate 227 and the virtual rectangle are located on the same plane.

Please refer to Figures 4, 5, and 7. The industrial drone proposed by this technical solution, the method and principle of attitude change mainly include: the current detection unit 100 includes:

The current detection module 101 is connected to the power terminal of the first motor 33 for transmitting

input the real-time working current of the first motor 33;

a current conversion module 102, which is used to convert the real-time working current of the first motor 33 into a numerical value;

The detection and determination unit 200 includes:

The preset module 2100 is used to preset a preset current value corresponding to the number of rotor parts 3;

The comparison module 220 is used for receiving the current value of the current conversion module 102 and comparing the current value with the preset current value of the preset module 2100;

a distinction module 230, which outputs a first fault signal A1 based on the comparison result of the comparison module 220;

The recording module 240 is used for recording the corresponding position of each first motor exceeding the preset current value.

In a further embodiment, the sorting execution unit 300 includes:

a fault signal receiving module 310, which is used for receiving the first fault signal A1;

The gravity balance module 400 includes:

The principle of one situation is explained: the gravitational acceleration detection module 401 can receive the first fault signal A1 and call an acceleration detector 402 set in the fuselage 1. When the detection result of the acceleration detector 402 exceeds the set speed, a first An execution module 501 receives the overspeed signal V1 and the first fault signal A1 generated by the gravitational acceleration detection module 401 to drive the parachute bag drop compartment 4 of the fuselage 1 to open.

The principle of another situation is explained: when the detection result of the acceleration detector 402 is within a preset speed range, the second execution module 502 receives the speed signal V0 and the first fault signal A1 generated by the gravitational acceleration detection module 401, and transmits them to the a calling module 505, the calling module 505 is used to call the corresponding record of the position of the first motor generated by the recording module 240, and drive the second motor 35;

The secondary detection module 320, when there is a unique implementation current value in the detection and recording module 240, based on the position of the real-time current corresponding to the rotor part 3, drives the real-time current corresponding to the rotor part 3 adjacent to the rotor part 3 through a third execution module 3 of the third motor;

The fourth execution module 504 receives the speed signal V0 and the first fault signal A1, and when only the speed signal V0 is received, resets the first motor used to drive the rotor parts 3, so that each rotor part 3 is converted to Reset attitude.

To sum up, the technical advantages of this application include:

In the first aspect, the technical solution provides a specific structural design of an industrial drone that can effectively get rid of blocking obstacles, and increases the probability of the industrial drone getting rid of obstacles by changing the power output direction and method of the rotor part;

In the second aspect, the design of the technical solution for the extreme situation of the self-protection of the UAV under the fault state ensures the safety of the landing of the UAV; in addition, considering the subsequent take-off after getting rid of the obstacle, this technical solution also gives preferred embodiment.

Obviously, the above-mentioned embodiments are only examples for clear description, and are not intended to limit the implementation manner. For those of ordinary skill in the art, changes or modifications in other different forms can also be made on the basis of the above description. There is no need and cannot be exhaustive of all implementations here. And the obvious changes or changes derived from this are still within the protection scope of the present invention.

Claims (10)

1. an industrial unmanned aerial vehicle, has parachute bag landing warehouse (4), it is characterized in that, comprise: an even number of rotor arms (2) that are rotationally symmetric and evenly arranged with a fuselage (1); The rotor part (3) is arranged at the end of the rotor arm (2) away from the fuselage (1); In the working state, each of the rotor parts (3) takes the first direction as the power output direction; In a fault state, the rotor part (3) can change its posture from the first direction to the extending direction of the rotor arm (2), and the posture includes: In the first posture, the power output direction of the rotor part (3) is transformed into the extension direction of the rotor arm (2); In the second posture, the power output direction of the rotor part (3) is transformed into a tangential direction in which a plurality of the rotor arms (2) form a virtual circle (1001); a current detection unit (100) for detecting the real-time working current of each of the rotor parts (3); A detection and determination unit (200), which is used to compare the real-time operating current of each of the rotor parts (3) with a preset current value; Wherein, when the real-time working current exceeds the preset current value, each rotor part (3) is controlled to stop working by a sorting execution unit (300), and at the same time, the sorting execution unit (300) drives a gravity balance Module (400) works; The gravitational balance module (400) is used to detect the gravitational acceleration of the fuselage (1) during operation, and when the gravitational acceleration exceeds a preset speed value, the parachute bag landing compartment (4) is controlled to open; Wherein, when the real-time working current exceeds the preset current value, if the gravitational acceleration does not exceed the preset speed value, the rotor part (3) whose real-time working current detection result is the maximum value is transformed into first gesture; When in the first attitude, the rotor part (3) is driven by an execution module (500), and when the rotor part (3) exceeds the preset current value again, the adjacent rotor part (3) ) changes to the second attitude; Wherein, when the gravity balance module (400) detects again that the gravitational acceleration of the fuselage (1) does not exceed the preset speed value, and the real-time operating current does not exceed the preset current value, the The rotor part (3) is transformed into a reset posture. 2. The industrial drone according to claim 1, wherein the rotor part (3) comprises: propeller (31); a propeller shaft (32), one end of which is connected to the propeller (31), and the other end of which is connected to the output end of a first motor (33); The first motor (33) is mounted on a propeller seat (34). 3. The industrial drone of claim 2, wherein the rotor arm (2) comprises: a first suspension part (21), configured as two first suspension bodies (211) arranged oppositely; The first suspension shaft (22) is connected between the two first suspension bodies (211) through bearings, so that the first suspension shaft (22) can be rotated; a first suspension connecting part (23), which is fixed on the first suspension shaft (22) and located between the two first suspension bodies (211); a first connecting handle (24), one end of which is connected to one end of the first suspension connecting portion (23), and the other end of which is connected to the radial direction of the propeller seat (34); The output end of a second motor (35) is connected to the first suspension shaft (22), and the second motor (35) is mounted on the first suspension body (211). 4. The industrial drone according to claim 3, wherein the first connecting handle (24) forms a curved space (204), and the propeller seat (34) is arranged in the curved space (204). 204). 5. The industrial drone of claim 3, wherein the rotor arm (2) further comprises: a second suspension portion (210), which is respectively connected with the two first suspension bodies (211) through two sets of wing bars (222); a second rotating shaft part (221), which is rotatably arranged on the second suspension part (210) and can rotate to both sides of the second suspension part (210); An output end of a third motor (25) is connected above the second shaft portion (221); the third motor is erected on the second suspension part (210); An extension connecting portion (223), two extending connecting portions (223) are respectively extended from two sides of the second rotating shaft portion (221), and the two extending connecting portions (223) can be rotatably connected to a balance link (224); The balance link (224) is perpendicular to the second shaft portion (221). 6. The industrial drone of claim 5, further comprising: a stabilization link (225), which is connected to the end of the first suspension connecting portion (23) away from the first connecting handle (24); the stabilization link (225) is parallel to the balance link (224); Two parallel-arranged synchronizing links (226) are respectively spherically rotatably connected to both ends of the stabilization link (225) and the balance link (224). 7. The industrial drone according to claim 6, wherein a rotor plate (227) is connected to one end of the second suspension portion (210) away from the propeller (31); In the working state, the stabilizing link (225), the balance link (224) and the two synchronizing links (226) form a virtual rectangle, and the rotor plate (227) is connected to the The virtual rectangles described above lie on the same plane. 8. The industrial drone according to claim 7, wherein the current detection unit (100) comprises: a current detection module (101), which is connected to the power terminal of the first motor (33) and used to transmit the real-time working current of the first motor (33); a current conversion module (102), which is used to convert the real-time working current of the first motor (33) into a numerical value; The detection and judgment unit (200) includes: a preset module (2100), which is used to preset a preset current value corresponding to the rotor part (3); a comparison module (220) for receiving the current value of the current conversion module (102), and comparing the current value with the preset current value of the preset module (2100); a distinction module (230), which outputs a first fault signal based on the comparison result of the comparison module (220); A recording module (240) for recording the corresponding position of each of the first motors exceeding a preset current value. 9. The industrial drone according to claim 8, wherein the finishing execution unit (300) comprises: a fault signal receiving module (310), which is used for receiving the first fault signal; The gravity balance module (400) includes: A gravitational acceleration detection module (401), which can receive the first fault signal and call an acceleration detector (402) arranged on the fuselage (1), when the detection result of the acceleration detector (402) exceeds a set value When the speed is increased, a first execution module (501) receives the overspeed signal and the first fault signal generated by the gravitational acceleration detection module (401) to drive the opening of the parachute bag drop compartment (4) of the fuselage (1). 10. The industrial drone according to claim 9, wherein when the detection result of the acceleration detector (402) is within a preset speed range, the second execution module (502) receives the gravitational acceleration detection module (401) The generated speed signal and the first fault signal are transmitted to a calling module (505), and the calling module (505) is used to call the corresponding record of the position of the first motor generated by the recording module (240), and drive the second motor (35); Secondary detection module (320), when it detects that there is a unique real-time current in the recording module (240), based on the position of the rotor part (3) corresponding to the real-time current, drives the real-time current corresponding to the real-time current through a third execution module the third motor of the rotor part (3) adjacent to the rotor part (3); The fourth execution module (504) is configured to receive the speed signal and the first fault signal, and reset the first motor used to drive the rotor part (3) when only the speed signal is received , so that each of the rotor parts (3) is transformed to the reset posture.

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