CN114013654A - Air-land dual-purpose obstacle-crossing search and rescue unmanned aerial vehicle - Google Patents
Air-land dual-purpose obstacle-crossing search and rescue unmanned aerial vehicle Download PDFInfo
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- CN114013654A CN114013654A CN202111301478.4A CN202111301478A CN114013654A CN 114013654 A CN114013654 A CN 114013654A CN 202111301478 A CN202111301478 A CN 202111301478A CN 114013654 A CN114013654 A CN 114013654A
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- 230000008054 signal transmission Effects 0.000 claims description 6
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/11—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/68—Arrester hooks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention relates to an air-land dual-purpose obstacle-crossing search and rescue unmanned aerial vehicle, which comprises: unmanned aerial vehicle, electromagnetism mortise lock, unmanned search and rescue car and snap close ring, the mounting panel is installed to unmanned aerial vehicle bottom face, and the sliding mounting groove is installed to the mounting panel, and the electromagnetism mortise lock is installed at unmanned aerial vehicle bottom face, and unmanned search and rescue car top installation slide rail, slide rail sliding connection are in the sliding mounting groove, and the snap close ring is installed in unmanned search and rescue car top and corresponds the below of electromagnetism mortise lock. The unmanned aerial vehicle can solve the technical problem that the existing unmanned aerial vehicle cannot be effectively rescued on complex terrains, the locking ring can be locked by designing the electromagnetic mortise lock so as to lock the sliding rail to be fixed in the sliding mounting groove or release the sliding rail to slide out of the sliding mounting groove, the unmanned aerial vehicle can be connected with or separated from the unmanned search and rescue vehicle, when the unmanned aerial vehicle cannot be explored by the aircraft on the complex terrains, the unmanned aerial vehicle releases the unmanned search and rescue vehicle to continue exploring, the adaptability of the search and rescue terrains is improved, the rescue time is saved, and the success rate of rescue is improved.
Description
Technical Field
The invention relates to the technical field of unmanned search and rescue devices, in particular to an air-land dual-purpose obstacle-crossing search and rescue unmanned aerial vehicle.
Background
Because the unmanned aerial vehicle has the characteristics of small volume, simple take-off and landing conditions, flexible flight, strong adaptability and the like, people pay attention gradually and enter various industries to become assistance of people, and the importance of the unmanned aerial vehicle can not be replaced particularly in the aspects of earthquake relief, field rescue and the like.
At present, rescue unmanned aerial vehicle mainly has two kinds of working methods: firstly, a high-definition camera is directly used for probing and shooting, but the method is very weak in a complex terrain; secondly, the biological signs can be quickly recognized at night by using the infrared camera for shooting, but the infrared camera cannot determine whether the rescued person is a wild animal or a target to be rescued under the condition that the rescued person has a shelter or is covered. In addition, mountain area unmanned aerial vehicle's signal can be blockked by the mountain region often, and signal quality is poor, postpones highly, leads to controlling situations such as insensitive, unmanned aerial vehicle loses antithetical couplet, unmanned aerial vehicle crash.
Because the unmanned aerial vehicle has limitation in flying, the unmanned aerial vehicle cannot approach the ground in a complex environment, and the positions of people in the ruins cannot be accurately determined, so that rescue time is wasted. When the rescue team can not arrive in a short time due to the conditions of river canyon road damage and the like, the trapped person is lack of basic substances, the load of the miniature unmanned aerial vehicle is very limited, enough substances can not be carried, the miniature unmanned aerial vehicle usually runs back and forth for several times, thus precious rescue time is wasted, a plurality of batteries are needed to be alternately replaced, the trapped person can not be accurately thrown in, and the rescue success rate is reduced.
Therefore, how to provide an air-land dual-purpose obstacle-crossing search and rescue unmanned aerial vehicle is a problem that needs to be solved urgently by technical personnel in the field.
Disclosure of Invention
The invention provides an air-land dual-purpose obstacle-crossing search and rescue unmanned aerial vehicle, which solves the technical problem that the existing unmanned aerial vehicle cannot be unfolded for rescue in a complex terrain.
The technical scheme for solving the technical problems is as follows: an air-land dual-purpose obstacle-surmounting search and rescue unmanned aerial vehicle comprises: unmanned planes, electromagnetic mortise locks, unmanned search and rescue vehicles and lock catch rings,
the bottom end surface of the unmanned aircraft is provided with a mounting plate along the flight direction of the unmanned aircraft, and the mounting plate is provided with a sliding mounting groove along the flight direction of the unmanned aircraft; the electromagnetic mortise lock is arranged on the bottom end face of the unmanned aircraft; the top of the unmanned search and rescue vehicle is provided with a slide rail which is connected in a slide mounting groove in a sliding manner; the lock catch ring is arranged on the top of the unmanned search and rescue vehicle and corresponds to the lower part of the electromagnetic mortise lock; the electromagnetic mortise lock can lock the locking ring to lock the slide rail to be fixed in the slide mounting groove or release the slide rail to slide out of the slide mounting groove.
The invention has the beneficial effects that: the technical problem that the existing unmanned aerial vehicle cannot be effectively rescued on complex terrains is solved, the locking ring can be locked through the design of the electromagnetic mortise lock, the locking slide rail is fixed in the slide mounting groove or the release slide rail slides out of the slide mounting groove, the unmanned aerial vehicle can be connected with or separated from the unmanned search and rescue vehicle, when the unmanned aerial vehicle cannot be explored when encountering the complex terrains, the unmanned aerial vehicle releases the unmanned search and rescue vehicle to continue exploring, the adaptability of the search and rescue terrains is improved, the rescue time is saved, and the rescue success rate is improved.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the mounting panel is two rectangular boards of arranging along unmanned aerial vehicle flight direction and all is equipped with the sliding installation groove, and the slide rail is two and respectively one-to-one sliding connection in the sliding installation groove.
Furthermore, the two long laths and the two sliding rails are arranged in a shape like the Chinese character 'ba'.
The beneficial effect of adopting the above technical scheme is: the unmanned aircraft nose and the unmanned search and rescue vehicle head are convenient to align, and the reverse installation of the unmanned aircraft and the unmanned search and rescue vehicle is avoided.
Further, the unmanned aerial vehicle comprises a frame, a shell, a propeller driving motor, a transmission shaft, a propeller, a flight controller and two flight batteries,
the outer shell of the machine body is wrapped and fixed on the outer periphery of the framework of the machine body; the two mounting plates are fixed on the bottom end surface of the machine body shell; the electromagnetic mortise lock is fixed at one end of the bottom end face of the machine body shell; the propeller driving motor is fixed on the frame of the machine body; the transmission shaft is vertical to the top of the machine body framework, and the bottom end of the transmission shaft penetrates through the machine body shell and is in transmission connection with the propeller driving motor through a belt; the propeller is vertical to the transmission shaft and is in transmission connection with the outer wall of the transmission shaft close to the top end of the transmission shaft; two flying batteries are symmetrically arranged at two ends of the frame of the airplane body; the flight controller is installed in the fuselage skeleton and electrically connected with the propeller driving motor and the two flight batteries and controls the opening and closing of the electromagnetic mortise lock.
Further, the unmanned search and rescue vehicle comprises a carriage, a first locomotive driving motor, a second locomotive driving motor, a locomotive battery, two transmission hubs, two supporting hubs, two tracks and an onboard controller,
the two slide rails are arranged on the top of the carriage; the lock catch ring is arranged on the top of the carriage; the locomotive battery is arranged inside the carriage; the first locomotive driving motor and the second locomotive driving motor are respectively arranged on two inner box walls opposite to the carriage, and the transmission output ends of the first locomotive driving motor and the second locomotive driving motor respectively penetrate through the carriage walls opposite to the first locomotive driving motor; the vehicle-mounted controller is arranged in the compartment and is respectively and electrically connected with the locomotive battery, the locomotive driving motor I and the locomotive driving motor II; the two transmission hubs are respectively installed at the output ends of the locomotive driving motor I and the locomotive driving motor II in a transmission manner; the two supporting hubs respectively rotate outside the box walls on the two sides of the carriage and are respectively arranged opposite to the two transmission hubs one by one; the two caterpillar bands are respectively connected to the supporting hubs and the driving hubs on the two sides of the carriage in a corresponding transmission mode.
The beneficial effect of adopting the above technical scheme is: the first driving motor and the second driving motor are respectively arranged on two opposite inner box walls of the carriage, the output ends of the first driving motor and the second driving motor extending out of the carriage walls are respectively provided with a transmission wheel hub, and the unmanned search and rescue vehicle can run linearly or turn by adjusting the power output of the first driving motor and the second driving motor.
The suspension frames comprise springs and connecting rods, the springs are fixed on two side faces of the carriage respectively, the connecting rods correspond to the springs one by one respectively, and one end of each connecting rod is fixedly connected with the corresponding spring; a plurality of cylinders respectively one by one correspond with a plurality of connecting rods and its center is connected rather than the connecting rod other end rotation that corresponds, a plurality of cylinder periphery walls respectively with the inner circle butt of two tracks to support the track.
The beneficial effect of adopting the above technical scheme is: when supporting two tracks, a plurality of cylinders can buffer the reaction force received by the tracks through springs, and then the service life of the tracks is prolonged.
The storage device comprises a storage cavity, a top cover and a sealing ring, wherein the storage cavity is used for storing materials and is arranged in the compartment, the top of the storage cavity is provided with an opening, and the top cover is hinged at the opening of the compartment; the sealing ring is arranged at the joint of the top cover and the opening of the carriage.
And the wireless remote controller can receive the transmission information of the flight controller and the vehicle-mounted controller and can output instructions to control the flight controller and the vehicle-mounted controller.
The flight antenna is fixed outside the fuselage shell and electrically connected with the flight controller so as to prolong the signal transmission distance between the flight controller and the wireless remote controller; the vehicle-mounted antenna is fixed outside the carriage and electrically connected with the vehicle-mounted controller so as to prolong the signal transmission distance between the vehicle-mounted controller and the wireless remote controller.
The flight camera device comprises a movable monocular camera I and an infrared sensor I, and the monocular camera I and the infrared sensor I are fixed outside the vehicle body shell and are electrically connected with the flight controller; the vehicle-mounted camera device comprises a movable monocular camera II and an infrared sensor II, and the monocular camera II and the infrared sensor II are fixed at the outer top of the carriage and are electrically connected with the vehicle-mounted controller; the first movable monocular camera corresponds to the rear end of the flight direction of the unmanned aerial vehicle, and the second movable monocular camera corresponds to the rear end of the flight direction of the unmanned aerial vehicle to form an angle of view range.
The beneficial effect of adopting the above technical scheme is: when unmanned aerial vehicle flies to the region that the naked eye can't see, can remote operation unmanned aerial vehicle and unmanned search and rescue car combine or separate with the help of flight camera device and on-vehicle camera device.
The vehicle-mounted satellite positioning system further comprises a flying satellite positioner and a vehicle-mounted satellite positioner, wherein the flying satellite positioner is mounted outside the vehicle body shell and is electrically connected with the flying controller; the vehicle-mounted satellite positioner is arranged at the outer top of the carriage and is electrically connected with the vehicle-mounted controller.
The beneficial effect of adopting the above technical scheme is: by means of the existing flight satellite positioner and the vehicle-mounted satellite positioner, the actual positions of the unmanned airplane and the unmanned search and rescue vehicle can be detected at any time, and the situation that the unmanned airplane and the unmanned search and rescue vehicle cannot be found after being lost is avoided.
Furthermore, the lifting device also comprises a lifting support, and two sides of the top end of the lifting support are fixed on two sides of the bottom end face of the machine body shell.
Drawings
FIG. 1 is a schematic perspective view of an air-land dual-purpose obstacle-crossing search and rescue unmanned aerial vehicle according to the present invention;
FIG. 2 is a schematic view of a front view cross-section of an air-land dual-purpose obstacle-surmounting search and rescue unmanned aerial vehicle according to the present invention;
FIG. 3 is a schematic structural view of a drone in the air-land dual-purpose obstacle-crossing search and rescue unmanned aerial vehicle of the invention;
FIG. 4 is a partially enlarged view of the position A in FIG. 3;
fig. 5 is a schematic structural view of an unmanned search and rescue vehicle in the air-land dual-purpose obstacle-crossing search and rescue unmanned aerial vehicle of the invention;
FIG. 6 is a schematic enlarged view of a portion of the position B in FIG. 5;
fig. 7 is a schematic view of the internal structure of an unmanned search and rescue vehicle in the air-land dual-purpose obstacle-crossing search and rescue unmanned aerial vehicle of the invention;
fig. 8 is a schematic structural view of a vehicle box in an unmanned search and rescue vehicle in an air-land dual-purpose obstacle-crossing search and rescue unmanned aerial vehicle.
In the drawings, the components represented by the respective reference numerals are listed below:
1. the unmanned aerial vehicle comprises an unmanned aerial vehicle body, 11, a body framework, 12, a vehicle body shell, 13, a propeller driving motor, 14, a transmission shaft, 15, a propeller, 16, a flight battery, 17, a flight controller, 2, an electromagnetic mortise lock, 3, an unmanned search and rescue vehicle, 31, a compartment, 32, a locomotive driving motor I, 33, a locomotive battery, 34, a transmission hub, 35, a supporting hub, 36, a crawler belt, 37, a vehicle-mounted controller, 4, a lock catch ring, 5, a strip body, 51, a sliding installation groove, 6, a sliding rail, 7, a suspension, 71, a spring, 72, a connecting rod, 8, a roller, 9, a top cover, 10, a flight antenna, 18, a vehicle-mounted antenna, 19, a flight camera device, 20, a vehicle-mounted camera device, 21, a flight satellite positioner, 22, a vehicle-mounted satellite positioner, 23 and a lifting support.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, the dual-purpose obstacle-surmounting search and rescue unmanned aerial vehicle for air and land planting comprises: an unmanned plane 1, an electromagnetic mortise lock 2, an unmanned search and rescue vehicle 3 and a lock catch ring 4,
the bottom end surface of the unmanned aircraft 1 is provided with a mounting plate 5 along the flight direction of the unmanned aircraft, and the mounting plate 5 is provided with a sliding mounting groove 51 along the flight direction of the unmanned aircraft 1; the electromagnetic mortise lock 2 is arranged on the bottom end face of the unmanned aircraft 1; the top of the unmanned search and rescue vehicle 3 is provided with a slide rail 6, and the slide rail 6 is connected in the slide mounting groove 51 in a sliding manner; the lock catch ring 4 is arranged at the top of the unmanned search and rescue vehicle 3 and corresponds to the lower part of the electromagnetic mortise lock 2; when the unmanned aerial vehicle flies to a preset area, the electromagnetic mortise lock 2 is controlled to be separated from the lock catch ring 4, at the moment, the unmanned aerial vehicle 1 and the unmanned search and rescue vehicle 3 move reversely, the slide rail 6 slides out of the slide mounting groove 51, and the unmanned aerial vehicle 1 is separated from the unmanned search and rescue vehicle 3; after the unmanned search and rescue vehicle 3 finishes continuous exploration, the unmanned aircraft 1 and the unmanned search and rescue vehicle 3 move oppositely, the sliding rail 6 slides in the sliding installation groove 51, and after the electromagnetic mortise lock 2 is aligned with the lock catch ring 4, the electromagnetic mortise lock 2 is controlled to be locked with the lock catch ring 4, and the unmanned aircraft 1 and the unmanned search and rescue vehicle 3 are combined into a whole.
The electromagnetic mortise lock 2 may lock the locking ring 4 to lock the slide rail 6 fixed in the slide mounting groove 51 or release the slide rail 6 to slide out of the slide mounting groove 51.
In some embodiments, the mounting plate 5 may be two long strips arranged along the flight direction of the unmanned aerial vehicle 1 and each provided with a slide mounting groove 51, and the two slide rails 6 are slidably connected in the slide mounting grooves 51 in a one-to-one correspondence manner.
Specifically, two rectangular boards and two slide rails are in a splayed configuration, so that the aircraft nose of the unmanned aircraft 1 and the aircraft nose of the unmanned search and rescue vehicle 3 can be aligned conveniently, and the unmanned aircraft 1 and the unmanned search and rescue vehicle 3 can be prevented from being installed reversely.
In some embodiments, the unmanned aerial vehicle 1 comprises a fuselage skeleton 11, a fuselage shell 12, a propeller driving motor 13, a transmission shaft 14, a propeller 15, a flight controller 17 and two flight batteries 16,
the fuselage shell 12 is wrapped and fixed on the periphery of the fuselage skeleton 11; two mounting plates 5 are fixed on the bottom end surface of the machine body shell 12; the electromagnetic mortise lock 2 is fixed at one end of the bottom end face of the machine body shell 12; the propeller driving motor 13 is fixed on the frame 11; the transmission shaft 14 is vertical to the top of the machine body framework 11, and the bottom end of the transmission shaft penetrates through the machine body shell 12 and is in transmission connection with the propeller driving motor 13 through a belt; the propeller 15 is vertical to the transmission shaft 14 and is in transmission connection with the outer wall of the transmission shaft 14 close to the top end of the transmission shaft; two flying batteries 16 are symmetrically arranged at two ends of the fuselage skeleton 11; the flight controller 17 is installed inside the fuselage skeleton 11 and electrically connected with the propeller driving motor 13 and the two flight batteries 16 and controls the opening and closing of the electromagnetic mortise lock 2.
The flying battery 16 may also be 1 block, and a weight block is installed at its symmetrical position to maintain the balance state of the flight of the drone 1.
In some embodiments, the unmanned search and rescue vehicle 3 includes a compartment 31, a first locomotive driving motor 32, a second locomotive driving motor, a locomotive battery 33, two driving hubs 34, two supporting hubs 35, two tracks 36 and an onboard controller 37,
the two slide rails 6 are arranged on the top of the compartment 31; the shackle 4 is mounted on the top of the compartment 31; the locomotive battery 33 is installed inside the compartment 31; the first locomotive driving motor 32 and the second locomotive driving motor are respectively arranged on two inner box walls opposite to the carriage 31, and the transmission output ends of the first locomotive driving motor and the second locomotive driving motor respectively penetrate through the carriage 31 wall opposite to the first locomotive driving motor; the vehicle-mounted controller 37 is installed inside the compartment 31 and is electrically connected with the locomotive battery 33, the locomotive driving motor I32 and the locomotive driving motor II respectively; the two transmission hubs 34 are respectively installed at the output ends of the locomotive driving motor I32 and the locomotive driving motor II in a transmission manner; the two supporting hubs 35 are respectively rotated outside the two side walls of the carriage 31 and are respectively arranged opposite to the two transmission hubs 34 one by one; the two crawler belts 36 are respectively connected to the supporting hub 35 and the driving hub 34 on two sides of the wagon box 31 in a driving manner.
In some specific embodiments, the vehicle further comprises a plurality of suspensions 7 and a plurality of rollers 8, each of the plurality of suspensions 7 comprises a spring 71 and a connecting rod 72, the plurality of springs 71 are respectively fixed on two side surfaces of the compartment 31, the plurality of connecting rods 72 respectively correspond to the plurality of springs 71 one by one, and one end of each connecting rod is fixedly connected with the corresponding spring 71; the rollers 8 correspond to the connecting rods 72 one by one respectively, the centers of the rollers are rotatably connected with the other ends of the corresponding connecting rods 72, the outer peripheral walls of the rollers 8 are abutted to the inner rings of the two crawler belts 36 respectively to support the crawler belts 36, the reaction force applied to the crawler belts 36 is buffered through the springs 71, and the service life of the crawler belts 36 is prolonged.
In some embodiments, the container further comprises a roof 9 and a sealing ring, the container 31 has a holding cavity for storing materials therein and an opening at the top thereof, and the roof 9 is hinged at the opening of the container 31; the sealing ring is arranged at the joint of the top cover 9 and the opening of the carriage 31.
In some embodiments, a wireless remote control is also included, which can receive the transmission information from flight controller 17 and onboard controllers 37 and can output commands to control flight controller 17 and onboard controllers 37.
In some embodiments, the flight antenna 10 and the vehicle-mounted antenna 18 are further included, the flight antenna 10 is fixed outside the fuselage shell 12 and is electrically connected with the flight controller 17, so as to prolong the signal transmission distance between the flight controller 17 and the wireless remote controller; the vehicle antenna 18 is fixed outside the vehicle box 31 and electrically connected to the vehicle operation controller to extend the signal transmission distance between the vehicle controller 37 and the wireless remote controller.
In some embodiments, the flight imaging device 19 and the vehicle-mounted imaging device 20 are further included, the flight imaging device 19 includes a movable monocular camera and a movable infrared sensor, and the monocular camera and the infrared sensor are fixed outside the vehicle body shell 12 and are electrically connected with the flight controller 17; the vehicle-mounted camera device comprises a movable monocular camera II and an infrared sensor II, and the monocular camera II and the infrared sensor II are fixed at the outer top of the carriage 31 and are electrically connected with the vehicle-mounted controller 37; the first movable monocular camera corresponds to the rear end of the flight direction of the unmanned aerial vehicle, the second movable monocular camera corresponds to the rear end of the flight direction of the unmanned aerial vehicle, so that a 360-degree visual field range is formed, and when the unmanned aerial vehicle flies to an area which cannot be seen by naked eyes, the unmanned aerial vehicle 1 and the unmanned search and rescue vehicle 3 can be remotely operated to be combined or separated by means of the flight camera device 19 and the vehicle-mounted camera device 20.
In some specific embodiments, the vehicle-mounted vehicle further comprises a flight satellite positioner 21 and an on-board satellite positioner 22, wherein the flight satellite positioner 21 is mounted outside the vehicle body shell 12 and is electrically connected with the flight controller 17; the vehicle-mounted satellite positioner 22 is installed on the outer top of the carriage 31 and electrically connected with the vehicle-mounted controller 37, and the actual positions of the unmanned aircraft 1 and the unmanned search and rescue vehicle 3 can be detected at any time by means of the existing flying satellite positioner 21 and the vehicle-mounted satellite positioner 22, so that the situation that the unmanned aircraft cannot be found after being lost is avoided.
In some embodiments, a lifting support 23 is further included, and both sides of the top end of the lifting support 23 are fixed to both sides of the bottom end surface of the body shell 12.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent replacements, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides an air-land dual-purpose obstacle-surmounting search and rescue unmanned aerial vehicle which characterized in that includes: an unmanned plane (1), an electromagnetic mortise lock (2), an unmanned search and rescue vehicle (3) and a lock catch ring (4),
the bottom end surface of the unmanned aircraft (1) is provided with a mounting plate (5) along the flight direction of the unmanned aircraft, and the mounting plate (5) is provided with a sliding mounting groove (51) along the flight direction of the unmanned aircraft (1); the electromagnetic mortise lock (2) is arranged on the bottom end face of the unmanned aircraft (1); a slide rail (6) is installed at the top of the unmanned search and rescue vehicle (3), and the slide rail (6) is connected in the slide installation groove (51) in a sliding manner; the lock catch ring (4) is arranged at the top of the unmanned search and rescue vehicle (3) and corresponds to the lower part of the electromagnetic mortise lock (2); electromagnetism mortise lock (2) can lock hasp ring (4) is in order to lock slide rail (6) are fixed in slide mounting groove (51) or release slide rail (6) roll-off slide mounting groove (51).
2. The unmanned aerial vehicle for air-land dual-purpose obstacle crossing, search and rescue as claimed in claim 1, wherein the mounting plate (5) is two strips arranged along the flight direction of the unmanned aerial vehicle (1) and provided with the sliding mounting grooves (51), and the sliding rails (6) are two strips and are respectively slidably connected in the sliding mounting grooves (51) in a one-to-one correspondence manner.
3. The unmanned aerial vehicle for air-land obstacle crossing search and rescue of claim 2, wherein the unmanned aerial vehicle (1) comprises a body framework (11), a body shell (12), a propeller driving motor (13), a transmission shaft (14), a propeller (15), a flight controller (17) and two flight batteries (16),
the fuselage shell (12) is wrapped and fixed on the outer peripheral side of the fuselage skeleton (11); the two mounting plates (5) are fixed on the bottom end face of the machine body shell (12); the electromagnetic mortise lock (2) is fixed at one end of the bottom end face of the machine body shell (12); the propeller driving motor (13) is fixed on the machine body framework (11); the transmission shaft (14) is vertical to the top of the machine body framework (11), and the bottom end of the transmission shaft penetrates through the machine body shell (12) and is in transmission connection with the propeller driving motor (13) through a belt; the propeller (15) is vertical to the transmission shaft (14) and is in transmission connection with the outer wall of the transmission shaft (14) close to the top end of the transmission shaft; the two flying batteries (16) are symmetrically arranged at two ends of the fuselage skeleton (11); the flight controller (17) is installed in the fuselage skeleton (11) and electrically connected with the propeller driving motor (13) and the two flight batteries (16) and controls the opening and closing of the electromagnetic mortise lock (2).
4. The unmanned aerial vehicle for air-land obstacle crossing search and rescue of claim 3, wherein the unmanned search and rescue vehicle (3) comprises a vehicle box (31), a first locomotive driving motor (32), a second locomotive driving motor, a locomotive battery (33), two driving hubs (34), two supporting hubs (35), two tracks (36) and a vehicle-mounted controller (37),
the two slide rails (6) are arranged at the top of the compartment (31); the lock catch ring (4) is arranged on the top of the compartment (31); the locomotive battery (33) is arranged inside the carriage (31); the locomotive driving motor I (32) and the locomotive driving motor II are respectively arranged on two inner box walls opposite to the carriage (31), and the transmission output ends of the two inner box walls penetrate through the carriage (31) wall opposite to the transmission output ends; the vehicle-mounted controller (37) is installed inside the compartment (31) and is respectively and electrically connected with the locomotive battery (33), the locomotive driving motor I (32) and the locomotive driving motor II; the two transmission hubs (34) are respectively installed at the output ends of the locomotive driving motor I (32) and the locomotive driving motor II in a transmission manner; the two supporting hubs (35) are respectively and rotatably arranged outside the box walls on the two sides of the compartment (31) and are respectively arranged opposite to the two transmission hubs (34); the two crawler belts (36) are respectively connected to the supporting hubs (35) and the transmission hubs (34) on the two sides of the carriage (31) in a corresponding transmission mode.
5. The unmanned aerial vehicle for air-land obstacle crossing search and rescue of claim 4, further comprising a plurality of suspensions (7) and a plurality of rollers (8), wherein each of the plurality of suspensions (7) comprises a spring (71) and a connecting rod (72), the plurality of springs (71) are respectively fixed on two side surfaces of the carriage (31), the plurality of connecting rods (72) respectively correspond to the plurality of springs (71) one by one, and one end of each connecting rod is fixedly connected with the corresponding spring (71); the rollers (8) are respectively in one-to-one correspondence with the connecting rods (72) and the centers of the rollers are in rotational connection with the other ends of the connecting rods (72) corresponding to the connecting rods, and the peripheral walls of the rollers (8) are respectively abutted against the inner rings of the two crawler belts (36) to support the crawler belts (36).
6. The unmanned aerial vehicle for air-land obstacle crossing search and rescue of claim 4, further comprising a top cover (9) and a sealing ring, wherein the carriage (31) is internally provided with a containing cavity for storing materials and the top of the carriage is provided with an opening, and the top cover (9) is hinged at the opening of the carriage (31); the sealing ring is arranged at the joint of the top cover (9) and the opening of the carriage (31).
7. The unmanned aerial vehicle for air-land obstacle crossing search and rescue of claim 4, further comprising a wireless remote controller, wherein the wireless remote controller can receive the transmission information of the flight controller (17) and the vehicle-mounted controller (37) and can output instructions to control the flight controller (17) and the vehicle-mounted controller (37).
8. The unmanned aerial vehicle for air-land obstacle crossing search and rescue of claim 7, further comprising a flying antenna (10) and a vehicle-mounted antenna (18), wherein the flying antenna (10) is fixed outside the fuselage shell (12) and is electrically connected with the flying controller (17) so as to prolong the signal transmission distance between the flying controller (17) and the wireless remote controller; the vehicle-mounted antenna (18) is fixed outside the carriage (31) and electrically connected with the vehicle-mounted controller so as to prolong the signal transmission distance between the vehicle-mounted controller (37) and the wireless remote controller.
9. The unmanned aerial vehicle for obstacle crossing, search and rescue for air and land use according to claim 4, further comprising a flight camera (19) and a vehicle-mounted camera (20), wherein the flight camera (19) comprises a movable monocular camera I and an infrared sensor I, and the monocular camera I and the infrared sensor I are fixed outside the vehicle body shell (12) and are electrically connected with the flight controller (17); the vehicle-mounted camera device comprises a movable monocular camera II and an infrared sensor II, and the monocular camera II and the infrared sensor II are fixed on the outer top of the compartment (31) and are both electrically connected with the vehicle-mounted controller (37); the movable monocular camera corresponds to the rear end of the flight direction of the unmanned aerial vehicle, and the movable monocular camera corresponds to the rear end of the flight direction of the unmanned aerial vehicle to form a 360-degree visual field range.
10. The unmanned aerial vehicle for obstacle crossing, search and rescue for air and land use according to claim 3, further comprising a flying satellite positioner (21) and an on-board satellite positioner (22), wherein the flying satellite positioner (21) is installed outside the vehicle body shell (12) and is electrically connected with the flying controller (17); the vehicle-mounted satellite positioner (22) is installed on the outer top of the carriage (31) and is electrically connected with the vehicle-mounted controller (37).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111301478.4A CN114013654B (en) | 2021-11-04 | 2021-11-04 | Unmanned aerial vehicle is searched for and rescue to dual-purpose obstacle that gets over in sky and land |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111301478.4A CN114013654B (en) | 2021-11-04 | 2021-11-04 | Unmanned aerial vehicle is searched for and rescue to dual-purpose obstacle that gets over in sky and land |
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| Publication Number | Publication Date |
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| CN114013654A true CN114013654A (en) | 2022-02-08 |
| CN114013654B CN114013654B (en) | 2024-07-12 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114620243A (en) * | 2022-05-12 | 2022-06-14 | 四川腾盾科技有限公司 | Intelligent take-off and landing capturing system for aircraft |
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| WO2016203322A2 (en) * | 2016-10-27 | 2016-12-22 | Wasfi Alshdaifat | Search and rescue drone arrangement |
| CN108297950A (en) * | 2018-01-17 | 2018-07-20 | 西安工业大学 | Carry the crawler type offroad vehicle and its method of unmanned plane |
| CN109334984A (en) * | 2018-09-20 | 2019-02-15 | 河南豫乾技术转移中心有限公司 | A kind of deliverance apparatus and rescue mode based on unmanned plane |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016203322A2 (en) * | 2016-10-27 | 2016-12-22 | Wasfi Alshdaifat | Search and rescue drone arrangement |
| CN108297950A (en) * | 2018-01-17 | 2018-07-20 | 西安工业大学 | Carry the crawler type offroad vehicle and its method of unmanned plane |
| CN109334984A (en) * | 2018-09-20 | 2019-02-15 | 河南豫乾技术转移中心有限公司 | A kind of deliverance apparatus and rescue mode based on unmanned plane |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114620243A (en) * | 2022-05-12 | 2022-06-14 | 四川腾盾科技有限公司 | Intelligent take-off and landing capturing system for aircraft |
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| CN114013654B (en) | 2024-07-12 |
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