CN214451856U

CN214451856U - Automatic slow-landing tripping device of unmanned aerial vehicle

Info

Publication number: CN214451856U
Application number: CN202120535500.0U
Authority: CN
Inventors: 唐锐; 闫彦辉; 姚平; 张赛飞; 张超; 谢亚婕
Original assignee: Bazhou Power Supply Co Of State Grid Xinjiang Electric Power Co ltd; State Grid Corp of China SGCC
Current assignee: Bazhou Power Supply Co Of State Grid Xinjiang Electric Power Co ltd; State Grid Corp of China SGCC
Priority date: 2021-03-15
Filing date: 2021-03-15
Publication date: 2021-10-22
Anticipated expiration: 2031-03-15

Abstract

The utility model relates to an overhead transmission line overhauls technical field, is an automatic tripping device that slowly falls of unmanned aerial vehicle, including the unmanned aerial vehicle body, receive rope device, haulage rope, dispenser and control system, unmanned aerial vehicle body lower extreme central authorities are equipped with and receive the rope device, receive the rope device and include the fixed bolster, receive the rope motor and receive the rope cylinder, and fixed mounting can be dismantled to unmanned aerial vehicle body lower extreme central authorities has the fixed bolster, and fixed bolster right part lower extreme fixed mounting has and receives the rope motor. The utility model has the advantages of reasonable and compact structure, convenient to use, to 35 kilovolts 220 kilovolts transmission line mountain, next door desert line overhauls the in-process, can be for the personal instrument, the shaft tower gold utensil below the quick efficient transmission of maintenance operation 6 kilograms, shortened transmission multiplexer utensil time, reduced personnel physical demands, reduced the safety risk, for transmission line safe and reliable operation provides the powerful assurance, ensure the safety and stability operation of equipment, have safety, laborsaving, simple and convenient, efficient characteristics.

Description

Automatic slow-landing tripping device of unmanned aerial vehicle

Technical Field

The utility model relates to an overhead transmission line overhauls technical field, is an automatic tripping device that slowly falls of unmanned aerial vehicle.

Background

In the overhead transmission line mountain, next door desert line overhaul work, because the line coverage is wide, the geographical environment difference is big, personnel are few, bring very big degree of difficulty to transmission line overhaul work, there is comparatively complicated problem now that 35 kilovolts to 110 kilovolts transmission line are located mountain, next door desert, the transmission multiplexer utensil is long-term, personnel's physical demands is big, the safety risk is high, great difficulty has been brought for the maintainer, lead to transmission line operation unreliability to progressively improve, this type of problem buries down very big hidden danger to transmission line operation and overhaul safety.

Disclosure of Invention

The utility model provides an automatic tripping device that slowly falls of unmanned aerial vehicle has overcome above-mentioned prior art not enough, and it can effectively be solved transmission multiplexer utensil time that exists in the work of current overhead transmission line maintenance long, and personnel's physical demands is big, the problem that safe risk is high and economic benefits is poor.

The technical scheme of the utility model is realized through following measure: an automatic slow-landing tripping device of an unmanned aerial vehicle comprises an unmanned aerial vehicle body, a rope winding device, a traction rope, a throwing device and a control system, wherein the rope winding device is arranged in the center of the lower end of the unmanned aerial vehicle body and comprises a fixed support, a rope winding motor and a rope winding roller, the fixed support is detachably and fixedly arranged in the center of the lower end of the unmanned aerial vehicle body, the rope winding motor is fixedly arranged at the lower end of the right part of the fixed support, an output shaft is arranged at the left end of the rope winding motor, an input shaft with the right end fixedly installed with the left end of the output shaft is rotatably arranged at the lower end of the middle part of the fixed support, the rope winding roller with a cylindrical structure is fixedly installed at the outer side of the middle part of the input shaft, the throwing device is arranged below the rope winding roller, the upper side of the throwing device is fixedly connected with the lower end of the traction rope, the upper end of the traction rope is wound on the outer side of the rope winding roller for a plurality of circles and then fixedly connected with the outer side of the rope winding roller, the control system comprises a rope winding control device, a throwing control device and a remote controller, the rope winding control device comprises a first power supply module, a first wireless communication module, a first control module and a first motor forward and reverse rotation control module which are fixedly arranged on a fixed support at intervals, the output end of the first power supply module is electrically connected with the power input end of the first control module, the output end of the first control module is electrically connected with the input end of the first motor forward and reverse rotation control module, the output end of the first motor forward and reverse rotation control module is electrically connected with the input end of a rope winding motor, the first control module is connected with the first wireless communication module in a wired communication manner, the throwing control device comprises a second power supply module, a second wireless communication module, a second control module and a second motor forward and reverse rotation control module which are fixedly arranged on a throwing device at intervals, the output end of the second power supply module is electrically connected with the power input end of the second control module, and the output end of the second control module is electrically connected with the input end of the second motor forward and reverse rotation control module, the output of the second motor positive and negative rotation control module is electrically connected with the input end of the throwing motor of the throwing device, the second control module is connected with the second wireless communication module through wired communication, a third wireless communication module is arranged in the unmanned aerial vehicle body, a fourth wireless communication module is arranged in the remote controller, and the fourth wireless communication module is connected with the first wireless communication module, the second wireless communication module and the third wireless communication module through wireless communication.

The following are further optimization or/and improvement of the technical scheme of the utility model:

the rope winding control device also comprises a first control box which is fixedly arranged on the lower side of the left part of the fixed support and provided with a plurality of first threading holes at intervals, and a first power supply module, a first wireless communication module, a first control module and a first motor forward and reverse rotation control module are fixedly arranged in the first control box at intervals.

The rope winding device can further comprise a hollow-structure protective sleeve sleeved outside the rope winding roller, the protective sleeve is fixedly mounted on the upper side of the protective sleeve together with the fixed support, a through hole which is formed in a long strip shape and runs through the protective sleeve is formed in the lower side of the protective sleeve corresponding to the position of the rope winding roller, the lower end of the traction rope penetrates through the through hole and is fixedly connected with the upper side of the throwing device, a left mounting hole which runs through the left side and the right side is formed in the center of the left end of the protective sleeve, the outer side of the left end of the input shaft is rotatably mounted in the left mounting hole, a right mounting hole which corresponds to the left mounting hole is formed in the center of the right end of the protective sleeve, the right end of the input shaft penetrates through the right mounting hole and is fixedly mounted on the output shaft together, and baffles are fixedly mounted on the outer sides of the two ends of the rope winding roller.

The throwing control device can further comprise a second control box fixedly installed on the upper side of the throwing device and provided with a plurality of second threading holes at intervals on the side surface, the upper side of the second control box is fixedly connected with the rope collecting roller through a traction rope penetrating through the through hole, and a second power supply module, a second wireless communication module, a second control module and a second motor forward and reverse rotation control module are fixedly installed in the first control box at intervals.

The hook can be fixedly arranged in the center of the upper side of the second control box, and the lower end of the traction rope is fixedly connected with the hook.

The wire-off hook of the dispenser can be provided with a U-shaped groove with a downward opening, the right end of the pull rod of the dispenser penetrates through the U-shaped groove of the wire-off hook and then is hinged with a mechanical arm of the dispenser, and the upper side of the left part of the pull rod of the dispenser is provided with an inclined plane with a lower left part and a higher right part.

Above-mentioned dispenser downside can be located the undercarriage downside top of unmanned aerial vehicle body.

The utility model has the advantages of reasonable and compact structure, convenient to use, to 35 kilovolts 220 kilovolts transmission line mountain, next door desert line overhauls the in-process, can be for the personal instrument, the shaft tower gold utensil below the quick efficient transmission of maintenance operation 6 kilograms, shortened transmission multiplexer utensil time, reduced personnel physical demands, reduced the safety risk, for transmission line safe and reliable operation provides the powerful assurance, ensure the safety and stability operation of equipment, have safety, laborsaving, simple and convenient, efficient characteristics.

Drawings

Fig. 1 is a schematic partial sectional structure view of the preferred embodiment of the present invention.

Fig. 2 is a schematic partial sectional view of a dispenser according to the preferred embodiment of the present invention.

Fig. 3 is a block diagram of the circuit structure of the preferred embodiment of the present invention.

The codes in the figures are respectively: 1 is the unmanned aerial vehicle body, 2 is the fixed bolster, 3 is the motor of receiving the rope, 4 is the cylinder of receiving the rope, 5 is the input shaft, 6 is the haulage rope, 7 is the protective sheath, 8 is the baffle, 9 is the input device, 10 is first control box, 11 is the second control box, 12 is the couple, 13 is the off-line hook, 14 is the pull rod, 15 is the arm, 16 is the undercarriage, 17 is the inclined plane, 18 is the input motor, 19 is the remote controller, 20 is first power module, 21 is second power module, 22 is first wireless communication module, 23 is second wireless communication module, 24 is third wireless communication module, 25 is fourth wireless communication module, 26 is first control module, 27 is second control module, 28 is first motor control module that just reverses, 29 is second motor control module that just reverses.

Detailed Description

The utility model discloses do not receive the restriction of following embodiment, can be according to the utility model discloses a technical scheme and actual conditions determine concrete implementation.

In the present invention, for convenience of description, the description of the relative position relationship of the components is described according to the layout mode of the attached drawing 1 in the specification, such as: the positional relationship of front, rear, upper, lower, left, right, etc. is determined in accordance with the layout direction of the drawings of the specification.

The invention will be further described with reference to the following examples and drawings:

as shown in attached figures 1, 2 and 3, the automatic slow-landing tripping device of the unmanned aerial vehicle comprises an unmanned aerial vehicle body 1, a rope collecting device, a traction rope 6, a dispenser 9 and a control system, wherein the rope collecting device is arranged in the center of the lower end of the unmanned aerial vehicle body 1 and comprises a fixed support 2, a rope collecting motor 3 and a rope collecting roller 4, the fixed support 2 is detachably and fixedly arranged in the center of the lower end of the unmanned aerial vehicle body 1, the rope collecting motor 3 is fixedly arranged at the lower end of the right part of the fixed support 2, an output shaft is arranged at the left end of the rope collecting motor 3, an input shaft 5 with the right end fixedly arranged with the left end of the output shaft is rotatably arranged at the lower end of the middle part of the fixed support 2, the rope collecting roller 4 with a cylindrical structure is fixedly arranged at the outer side of the middle part of the input shaft 5, the dispenser 9 is arranged below the rope collecting roller 4, the upper side of the dispenser 9 is fixedly connected with the lower end of the traction rope 6, the upper end of the traction rope 6 is fixedly connected with the outer side of the rope collecting roller 4 after being wound for a plurality of circles, the control system comprises a rope collecting control device, a throwing control device and a remote controller 19;

the rope winding control device comprises a first power supply module 20, a first wireless communication module 22, a first control module 26 and a first motor forward and reverse rotation control module 28 which are fixedly arranged on the fixed support 2 at intervals, wherein the output end of the first power supply module 20 is electrically connected with the power input end of the first control module 26, the output end of the first control module 26 is electrically connected with the input end of the first motor forward and reverse rotation control module 28, the output end of the first motor forward and reverse rotation control module 28 is electrically connected with the input end of the rope winding motor 3, and the first control module 26 is in wired communication connection with the first wireless communication module 22;

the throwing control device comprises a second power supply module 21, a second wireless communication module 23, a second control module 27 and a second motor forward and reverse rotation control module 29 which are fixedly arranged on the throwing device 9 at intervals, the output end of the second power supply module 21 is electrically connected with the power supply input end of the second control module 27, the output end of the second control module 27 is electrically connected with the input end of the second motor forward and reverse rotation control module 29, the output end of the second motor forward and reverse rotation control module 29 is electrically connected with the input end of the throwing motor 18 of the throwing device 9, and the second control module 27 is in wired communication connection with the second wireless communication module 23;

there is third wireless communication module 24 in the unmanned aerial vehicle body 1, has fourth wireless communication module 25 in the remote controller 19, fourth wireless communication module 25 and first wireless communication module 22, second wireless communication module 23 and the equal wireless communication connection of third wireless communication module 24.

According to the requirement, the unmanned aerial vehicle body 1 is the prior known technology, such as a Xinjiang Longitude M600 unmanned aerial vehicle, the remote controller 19 can be the prior known technology, such as the Xinjiang Longitude M600 series remote controller 19, the horizontal roller on the left side of the remote controller 19 controls the lifting, the horizontal roller on the right side of the remote controller 19 controls the throwing, DJI Xinjiang Longitude M600 series remote controller channel expansion components can be adopted to be in wired communication connection with the remote controller 19, so as to achieve the purpose of controlling the load action, when in use, only the self-contained interface module of the M600 remote controller 19 is required to be replaced by the interface module of a new expansion piece, the connecting line of the expansion piece is inserted into the interface, in addition, the channel expansion module is clamped on the back metal support of the original M600 remote controller 19, the installation can be completed, then the F channel mapping corresponding to the motor control device is set through DJI Assistant 2 parameter adjusting software, the remote control setting of the throwing motor 18 corresponding to the rope retracting motor 3 and the throwing device 9 can be realized, the rope collecting motor 3 is the prior known technology, such as 12v direct current motor, the haulage rope 6 is the steel wire line with the length of 10m and the diameter of 1.5mm, and the dispenser 9 is the prior known technology, such as unmanned aerial vehicle jettison device or the public number is CN201720337149.8, the name is: a dispenser in a multifunctional unmanned aerial vehicle with the dispenser is characterized in that a first control module 26 and a second control module 27 are both in the prior known technology, such as STC89C52 single chip microcomputer circuit, a first motor forward and reverse rotation control module 28 and a second motor forward and reverse rotation control module 29 are both in the prior known technology, such as an L298N motor driving circuit, a first power supply module 20 and a second power supply module 21 are both in the prior known technology, such as a 12v lithium battery, a first wireless communication module 22 and a second wireless communication module 23 are both in the prior known technology, such as a WiFi module circuit, and a third wireless communication module 24 and a fourth wireless communication module 25 are both in the prior known technology, such as a high-power WiFi module SKW 77.

In the use, tighten up haulage rope 6 through receiving rope motor 3 earlier, then hang the object on dispenser 9, ground operating personnel flies to appointed place through remote controller 19 control unmanned aerial vehicle body 1, operating personnel receives rope motor 3 through remote controller 19 remote control and slowly falls to appointed height with dispenser 9, controls dispenser 9 again, loosen the object to the operation personnel position, to 35 kilovolt 220 transmission line mountain gao mountain big mountain, next door desert line overhaul in-process, can be for the quick efficient individual tool, the gold utensil below 6 kilograms of transmission operation, transmission multiplexer utensil time has been shortened, personnel's physical demands has been reduced, the safety risk has been reduced, provide powerful assurance for transmission line safe and reliable operation, ensure the safe and stable operation of equipment, the utility model has the advantages of reasonable and compact structure, convenient to use, have safe, the safe stable operation of kilovolt, Saving labor, simple and convenient and high efficiency.

Can do further optimization or/and improvement to above-mentioned unmanned aerial vehicle automatic slow descent trip gear according to actual need:

as shown in fig. 1, the rope winding control device further includes a first control box 10 fixedly installed at the lower side of the left portion of the fixed support 2 and provided with a plurality of first threading holes at intervals, and a first power supply module 20, a first wireless communication module 22, a first control module 26 and a first motor forward and reverse rotation control module 28 are fixedly installed in the first control box 10 at intervals.

In the use, the first threading hole is convenient for install the wire that first motor just reverse control module 28 and receipts rope motor 3 electricity are connected, through such setting, is convenient for protect first power module 20, first wireless communication module 22, first control module 26 and first motor just reverse control module 28, also can avoid the interference that other signals caused, improves the reliability in the use.

As shown in the attached drawing 1, the rope winding device further comprises a protection sleeve 7 which is sleeved on the hollow structure outside the rope winding roller 4, the upper side of the protection sleeve 7 is fixedly installed together with the fixed support 2, a through hole which is formed in a long strip shape and runs through from top to bottom is formed in the lower side of the protection sleeve 7 corresponding to the position of the rope winding roller 4, the lower end of the traction rope 6 penetrates through the through hole and is fixedly connected with the upper side of the dispenser 9, a left installation hole which runs through from left to right is formed in the center of the left end of the protection sleeve 7, the outer side of the left end of the input shaft 5 is rotatably installed in the left installation hole, a right installation hole which corresponds to the left installation hole is formed in the center of the right end of the protection sleeve 7, the right end of the input shaft 5 penetrates through the right installation hole and is fixedly installed together with the output shaft, and baffles 8 are fixedly installed on the outer sides of two ends of the rope winding roller 4.

According to the requirement, the outer side of the right part of the input shaft 5 is rotatably arranged in the right mounting hole. In the use, through setting up protective sheath 7, can prevent that wire rope from swinging too big gesture that influences unmanned aerial vehicle body 1, also can play the guide effect to wire rope, the installation of input shaft 5 of can being convenient for can also play the guard action to receiving rope cylinder 4 and wire rope simultaneously.

As shown in the attached drawing 1, the throwing control device further comprises a second control box 11 fixedly installed on the upper side of the throwing device 9, a plurality of second threading holes are formed in the side face of the second control box at intervals, the upper side of the second control box 11 is fixedly connected with the rope collecting roller 4 through a traction rope 6 penetrating through a through hole, and a second power supply module 21, a second wireless communication module 23, a second control module 27 and a second motor forward and reverse rotation control module 29 are fixedly installed in the first control box 10 at intervals.

In the use process, the second threading hole is convenient for installing a second motor forward and reverse rotation control module 29 and a wire electrically connected with the throwing motor 18 of the throwing device 9, and through the arrangement, the second power supply module 21, the second wireless communication module 23, the second control module 27 and the second motor forward and reverse rotation control module 29 are convenient to protect, the interference caused by other signals can be avoided, and the reliability in the use process is improved.

As shown in the attached fig. 1 and 2, a hook 12 is fixedly installed at the center of the upper side of the second control box 11, and the lower end of the hauling cable 6 is fixedly connected with the hook 12.

The hook 12 may be a conventional hook, and the lower end of the hauling cable 6 may be fixed by a wire rope clip to form a ring buckle. In the use, through such setting, be convenient for be connected haulage rope 6 and couple 12, easy dismounting.

As shown in fig. 1 and 2, the wire-off hook 13 of the dispenser 9 is provided with a downward-opening U-shaped groove, the right end of the pull rod 14 of the dispenser 9 penetrates through the U-shaped groove of the wire-off hook 13 and is hinged with the mechanical arm 15 of the dispenser 9, and the upper left side of the pull rod 14 of the dispenser 9 is provided with an inclined surface 17 which is low at the left and high at the right.

The left part of the pull rod 14 of the dispenser 9 can also be in a truncated cone shape with a small left part and a large right part according to requirements. In the use process, due to the arrangement, the suspended objects can conveniently and smoothly fall along the inclined surface 17 after the pull rod 14 of the dispenser 9 is withdrawn out of the U-shaped groove of the wire-releasing hook 13, and the blocking phenomenon is avoided.

As shown in fig. 1, the lower side of the dispenser 9 is located above the lower side of the landing gear 16 of the drone body 1.

In the use, through such setting, can prevent when whereabouts dispenser 9 downside and ground bump, the extension the utility model discloses a life.

Above technical feature constitutes the utility model discloses a best embodiment, it has stronger adaptability and best implementation effect, can increase and decrease unnecessary technical feature according to actual need, satisfies the demand of different situation.

Claims

1. The utility model provides an automatic tripping device that slowly falls of unmanned aerial vehicle, its characterized in that includes the unmanned aerial vehicle body, the rope winding device, the haulage rope, input ware and control system, unmanned aerial vehicle body lower extreme central authorities are equipped with the rope winding device, the rope winding device includes the fixed bolster, receive the rope motor and receive the rope cylinder, unmanned aerial vehicle body lower extreme central authorities can dismantle fixed mounting have the fixed bolster, fixed bolster right part lower extreme fixed mounting has the rope winding motor, it has the output shaft to receive the rope motor left end, fixed bolster middle part lower extreme rotates installs the input shaft that the right-hand member is in the same place with output shaft left end fixed mounting, input shaft middle part outside fixed mounting has tubular structure's receipts rope cylinder, it is equipped with the input ware to receive the rope cylinder below, input ware upside and the lower extreme fixed connection of haulage rope, the upper end of haulage rope is fixed connection outside the receipts rope cylinder after winding a plurality of circles in the receipts rope cylinder outside, control system includes receipts rope control device, The rope winding control device comprises a first power supply module, a first wireless communication module, a first control module and a first motor forward and backward rotation control module which are fixedly arranged on a fixed support at intervals, the output end of the first power supply module is electrically connected with the power input end of the first control module, the output end of the first control module is electrically connected with the input end of the first motor forward and backward rotation control module, the output end of the first motor forward and backward rotation control module is electrically connected with the input end of a rope winding motor, the first control module is in wired communication connection with the first wireless communication module, the rope winding control device comprises a second power supply module, a second wireless communication module, a second control module and a second motor forward and backward rotation control module which are fixedly arranged on a throwing device at intervals, the output end of the second power supply module is electrically connected with the power input end of the second control module, the output of second control module is connected with the input electricity of the positive and negative control module of second motor, and the output of the positive and negative control module of second motor is connected with the input electricity of the input motor of input ware, and wired communication is connected between second control module and the second wireless communication module, and this internal third wireless communication module that has of unmanned aerial vehicle has in the remote controller, has fourth wireless communication module in the remote controller, fourth wireless communication module and the equal wireless communication connection of first wireless communication module, second wireless communication module and third wireless communication module.

2. The automatic slow descending and tripping device of the unmanned aerial vehicle as claimed in claim 1, wherein the rope winding control device further comprises a first control box fixedly installed on the lower side of the left portion of the fixed support and provided with a plurality of first threading holes at intervals, and the first power supply module, the first wireless communication module, the first control module and the first motor forward and reverse rotation control module are fixedly installed in the first control box at intervals.

3. The automatic slow-descending tripping device of the unmanned aerial vehicle as claimed in claim 1 or 2, wherein the rope winding device further comprises a hollow protective sleeve, the hollow protective sleeve is sleeved outside the rope winding roller, the upper side of the protective sleeve is fixedly mounted with a fixed support, a through hole which is in a strip shape and runs through from top to bottom is formed in the lower side of the protective sleeve corresponding to the position of the rope winding roller, the lower end of the traction rope penetrates through the through hole and is fixedly connected with the upper side of the dispenser, a left mounting hole which runs through from left to right is formed in the center of the left end of the protective sleeve, the outer side of the left end of the input shaft is rotatably mounted in the left mounting hole, a right mounting hole which corresponds to the left mounting hole is formed in the center of the right end of the protective sleeve, the right end of the input shaft penetrates through the right mounting hole and is fixedly mounted with the output shaft, and baffles are fixedly mounted on the outer sides of the two ends of the rope winding roller.

4. The automatic slow descending and tripping device of the unmanned aerial vehicle as claimed in claim 3, wherein the throwing control device further comprises a second control box fixedly installed on the upper side of the throwing device and provided with a plurality of second threading holes at intervals on the side surface, the upper side of the second control box is fixedly connected with the rope winding roller through a traction rope penetrating through the through hole, and a second power supply module, a second wireless communication module, a second control module and a second motor forward and reverse rotation control module are fixedly installed in the first control box at intervals.

5. The automatic slow descending and tripping device of the unmanned aerial vehicle as claimed in claim 4, wherein a hook is fixedly installed at the center of the upper side of the second control box, and the lower end of the traction rope is fixedly connected with the hook.

6. The automatic slow-descending releasing device of the unmanned aerial vehicle according to claim 1, 2, 4 or 5, wherein the wire-releasing hook of the dispenser is provided with a U-shaped groove with a downward opening, the right end of the pull rod of the dispenser penetrates through the U-shaped groove of the wire-releasing hook and then is hinged with the mechanical arm of the dispenser, and the upper side of the left part of the pull rod of the dispenser is provided with an inclined surface with a lower left part and a higher right part.

7. The automatic slow-descending tripping device of the unmanned aerial vehicle as claimed in claim 3, wherein the wire-releasing hook of the dispenser is provided with a U-shaped groove with a downward opening, the right end of the pull rod of the dispenser passes through the U-shaped groove of the wire-releasing hook and then is hinged with the mechanical arm of the dispenser, and the upper side of the left part of the pull rod of the dispenser is provided with an inclined plane with a lower left part and a higher right part.

8. An unmanned aerial vehicle automatic slow descent tripping device as claimed in claim 1, 2, 4, 5 or 7, wherein the lower side of the dispenser is located above the lower side of the landing gear of the unmanned aerial vehicle body.

9. An automatic slow-descent tripping device for an unmanned aerial vehicle as claimed in claim 3, wherein the lower side of the dispenser is located above the lower side of the undercarriage of the unmanned aerial vehicle body.

10. An automatic slow-descent tripping device for an unmanned aerial vehicle as claimed in claim 6, wherein the lower side of the dispenser is located above the lower side of the undercarriage of the unmanned aerial vehicle body.