CN219428405U - Air-ground collaborative reconnaissance system - Google Patents

Abstract

The utility model provides a land-air collaborative reconnaissance system, which comprises a ground unmanned vehicle and an air unmanned vehicle; the ground unmanned aerial vehicle is fixedly provided with a first reconnaissance mechanism, and the aerial unmanned aerial vehicle is fixedly provided with a second reconnaissance mechanism; a landing platform for the aerial unmanned aerial vehicle to land is formed at the top of the ground unmanned aerial vehicle; the ground unmanned aerial vehicle is provided with a storage battery, and the aerial unmanned aerial vehicle is electrically connected with the storage battery through a mooring structure. The utility model has the advantages that: the storage battery in the ground unmanned aerial vehicle is directly connected with the aerial unmanned aerial vehicle through the mooring structure, so that in the using process, the storage battery on the ground unmanned aerial vehicle can be utilized to uninterruptedly supply power to the aerial unmanned aerial vehicle, the reconnaissance endurance time of the aerial unmanned aerial vehicle can be effectively improved, the aerial unmanned aerial vehicle is ensured not to lose the aerial reconnaissance capacity due to electricity consumption, and the long-period multi-scene use requirement can be well met.

Description

Air-ground collaborative reconnaissance system

[ field of technology ]

The utility model relates to the technical field of reconnaissance equipment, in particular to a land-air collaborative reconnaissance system.

[ background Art ]

With the rapid advance of high and new technologies, a series of important changes in the military field are initiated; particularly, the continuous renovation of weapon equipment systems is attractive, and the trend of rapid development towards unmanned and intelligent systems is presented.

The small ground unmanned vehicle can carry weapons and reconnaissance equipment, has wide application in aspects of battlefield reconnaissance, monitoring, electronic interference, chemical defense detection, fire suppression and the like because of being flexible and having certain autonomous capability, and is favored. The aerial unmanned aerial vehicle has the advantages of small volume, light weight, long navigation time, portability, capability of vertical take-off, landing and hovering, environment sensing capability and image acquisition function, capability of image recognition, locking and tracking of targets and the like, and is widely used at present.

In the existing reconnaissance system, most of the reconnaissance system only has the single-sided reconnaissance capability in the air or the ground, for example, the Chinese patent application number CN201620682767.1 discloses an air reconnaissance robot which is a streamline aircraft and comprises: the power pushing system is arranged behind the streamline body, and the suspension turbine is arranged above the rear end of the streamline body and is horizontally arranged with the streamline body; for another example, chinese patent application No. CN201721738198.9 discloses a small ground reconnaissance robot, which includes two driving wheels, symmetrically disposed on left and right sides of a rear portion of the housing, a driving mechanism disposed in the housing and connected to the driving wheels through an output shaft, two driven wheels, symmetrically disposed on left and right sides of a front portion of the housing, two walking tracks, one matched with the driven wheels and the driving wheels on the left side of the housing, the other matched with the driven wheels and the driving wheels on the right side of the housing, and four flange wheels respectively matched with the two driven wheels and the two driving wheels. The utility model has flexible action and smaller volume, can quickly enter a fight site and assist fight soldiers; the robot collects information such as field images and sounds through equipment such as sensors, and can master the field conditions of the battle in real time; however, the unilateral reconnaissance system lacks reconnaissance capability of multi-azimuth targets, and is difficult to meet actual reconnaissance use requirements. Of course, in the prior art, a reconnaissance system formed by a ground reconnaissance robot and an air reconnaissance robot is also existed, but the ground reconnaissance robot and the air reconnaissance robot are independently operated, the air reconnaissance robot is limited in navigation time, and the long-period multi-scene use requirement cannot be met. In view of the above problems, the present inventors have conducted intensive studies on the problems, and have produced the present utility model.

[ utility model ]

The utility model aims to solve the technical problem of providing a land-air collaborative reconnaissance system, which is characterized in that a ground unmanned aerial vehicle and an air unmanned aerial vehicle are adopted to carry out mutual concomitant reconnaissance, and the ground unmanned aerial vehicle is utilized to provide required power for the air unmanned aerial vehicle, so that the reconnaissance duration of the air unmanned aerial vehicle can be effectively improved, and the long-period multi-scene use requirement is met.

The utility model is realized in the following way: a land-air collaborative reconnaissance system comprises a ground unmanned vehicle and an air unmanned vehicle; the ground unmanned aerial vehicle is fixedly provided with a first reconnaissance mechanism, and the aerial unmanned aerial vehicle is fixedly provided with a second reconnaissance mechanism; a landing platform for the aerial unmanned aerial vehicle to land is formed at the top of the ground unmanned aerial vehicle; the ground unmanned aerial vehicle is provided with a storage battery, and the aerial unmanned aerial vehicle is electrically connected with the storage battery through a mooring structure.

Further, the system also comprises a solar panel and a control device, wherein the control device is fixed on the ground unmanned vehicle, and the solar panel is arranged at the top of the ground unmanned vehicle; the solar panel is connected with the storage battery through the control device.

Further, the mooring structure comprises a mooring cable, a wire spool and a first driving part; one end of the mooring cable is electrically connected with the storage battery, and the other end of the mooring cable is electrically connected with the aerial unmanned aerial vehicle; the wire spool and the first driving part are both arranged in the ground unmanned vehicle; the first driving part is connected with the wire spool, the mooring cable is wound on the wire spool, and the wire spool is driven to rotate through the first driving part to realize winding and unwinding.

Further, the first reconnaissance mechanism at least comprises a first laser radar, a first lighting lamp and a first camera; the two sides of the front end of the ground unmanned vehicle are fixedly provided with first lighting lamps; the first laser radar and the first camera are both fixed in the middle of the front end of the ground unmanned vehicle.

Further, the second reconnaissance mechanism at least comprises a second laser radar, a second lighting lamp and a second camera; the second laser radar is fixedly arranged at the top of the aerial unmanned aerial vehicle; the second illuminating lamp and the second camera are fixedly arranged at the front end of the aerial unmanned aerial vehicle.

Further, the ground unmanned vehicle is a crawler-type unmanned vehicle.

Further, the ground unmanned vehicle comprises an unmanned vehicle main body and crawler traveling devices assembled on two sides of the unmanned vehicle main body;

the crawler traveling device comprises a traveling crawler, a driving wheel assembly, a driven wheel assembly, a suspension mechanism and a tensioning mechanism; the driving wheel assembly is arranged at one end of one side of the unmanned aerial vehicle body, the driven wheel assembly is arranged at the other end of the other side of the unmanned aerial vehicle body, and the walking crawler belt is sleeved on the driving wheel assembly and the driven wheel assembly; the suspension mechanism is fixed in the middle of one side of the unmanned aerial vehicle body, and a guide wheel contacted with the walking caterpillar is rotatably arranged at the bottom of the suspension mechanism; one end of the tensioning mechanism is arranged on the unmanned vehicle body, and the other end of the tensioning mechanism is connected with the driven wheel assembly.

Further, the aerial unmanned aerial vehicle is a multi-rotor unmanned aerial vehicle.

By adopting the technical scheme of the utility model, the utility model has at least the following beneficial effects:

1. the storage battery in the ground unmanned aerial vehicle is directly connected with the aerial unmanned aerial vehicle through the mooring structure, so that in the using process, the storage battery on the ground unmanned aerial vehicle can be utilized to uninterruptedly supply power to the aerial unmanned aerial vehicle, the reconnaissance endurance time of the aerial unmanned aerial vehicle can be effectively improved, the aerial unmanned aerial vehicle is ensured not to lose the aerial reconnaissance capacity due to electricity consumption, and the long-period multi-scene use requirement can be well met.

2. The ground unmanned aerial vehicle and the aerial unmanned aerial vehicle are mutually matched to carry out ground-air concomitant reconnaissance, so that multidirectional reconnaissance on a target can be well realized, and the reconnaissance capacity is improved, thereby better meeting the actual reconnaissance use requirements.

3. Through set up solar panel at ground unmanned aerial vehicle's top for can utilize solar panel to independently generate electricity in the in-process of using, make the battery satisfy unmanned aerial vehicle's power supply demand in the air well, thereby help further promoting unmanned aerial vehicle's reconnaissance duration.

[ description of the drawings ]

The utility model will be further described with reference to examples of embodiments with reference to the accompanying drawings.

FIG. 1 is an overall view of a collaborative airborne reconnaissance system in accordance with the present utility model;

FIG. 2 is a block diagram of a ground drone in the present utility model;

FIG. 3 is a block diagram of the crawler belt running gear of the present utility model;

FIG. 4 is a block diagram of the driven wheel assembly of the present utility model;

FIG. 5 is one of the structural diagrams of the hollow drone of the present utility model;

FIG. 6 is a second block diagram of the hollow drone of the present utility model;

fig. 7 is a schematic block diagram of a circuit involved in the air-ground cooperative reconnaissance system of the present utility model.

Reference numerals illustrate:

a collaborative air-ground reconnaissance system 100;

ground unmanned vehicle 1, battery 11, unmanned vehicle main body 12, crawler traveling device 13, traveling crawler 131, driving wheel assembly 132, driving wheel 1321, second driving part 1322, driven wheel assembly 133, connecting shaft 1331, bearing 1332, driven wheel 1333, connecting seat 1334, waist-shaped adjusting hole 1335, locking piece 1336, hanging mechanism 134, tensioning mechanism 135, adjusting screw 1351, threaded seat 1352, adjusting nut 1353, guide wheel 136, opening 14;

an aerial unmanned aerial vehicle 2;

a first reconnaissance mechanism 3, a first laser radar 31, a first illumination lamp 32, and a first camera 33;

a second reconnaissance mechanism 4, a second laser radar 41, a second illumination lamp 42, and a second camera 43;

a landing platform 5;

a mooring structure 6, which moors the cable 61;

a solar panel 7;

and a control device 8.

[ detailed description ] of the utility model

In order to better understand the technical scheme of the present utility model, the following detailed description will refer to the accompanying drawings and specific embodiments.

It should be noted herein that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience in describing these embodiments and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operate in a specific orientation. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature.

Example 1

Referring to fig. 1 to 7, in a preferred embodiment of a land-air collaborative reconnaissance system 100 of the present utility model, the land-air collaborative reconnaissance system 100 includes a ground unmanned vehicle 1 and an air unmanned vehicle 2, wherein the ground unmanned vehicle 1 is used for performing a ground reconnaissance task, the air unmanned vehicle 2 is used for performing an air reconnaissance task, and the ground unmanned vehicle 1 and the air unmanned vehicle 2 cooperate with each other to perform a land-air collaborative reconnaissance, so that a target can be well reconnaissance in multiple directions, and reconnaissance capability is improved, thereby better meeting actual reconnaissance use requirements;

the ground unmanned vehicle 1 is fixedly provided with a first reconnaissance mechanism 3 so as to realize ground reconnaissance by using the first reconnaissance mechanism 3; a second reconnaissance mechanism 4 is fixedly arranged on the aerial unmanned aerial vehicle 2 so as to realize aerial reconnaissance by using the second reconnaissance mechanism 4; a landing platform 5 for the aerial unmanned aerial vehicle 2 to land is formed at the top of the ground unmanned aerial vehicle 1, and after the aerial unmanned aerial vehicle 2 is detected, the aerial unmanned aerial vehicle 2 can be parked on the landing platform 5 and the ground unmanned aerial vehicle 1 carries the aerial unmanned aerial vehicle 2 to walk; the ground unmanned aerial vehicle 1 is provided with a storage battery 11, and the aerial unmanned aerial vehicle 2 is electrically connected with the storage battery 11 through the mooring structure 6 so as to continuously supply power to the aerial unmanned aerial vehicle 2 by using the storage battery 11.

By adopting the technical scheme provided by the utility model, the method has at least the following beneficial effects:

1. the storage battery 11 in the ground unmanned aerial vehicle 1 is directly connected with the aerial unmanned aerial vehicle 2 through the mooring structure 6, so that in the using process, the air unmanned aerial vehicle 2 can be supplied with power continuously through the storage battery 11 on the ground unmanned aerial vehicle 1, the reconnaissance endurance time of the air unmanned aerial vehicle 2 can be effectively improved, the air unmanned aerial vehicle 2 is ensured not to lose the air reconnaissance capacity due to the fact that electric quantity is consumed, and the long-period multi-scene use requirement can be well met.

2. The ground unmanned aerial vehicle 1 and the aerial unmanned aerial vehicle 2 are mutually matched to carry out ground-air concomitant reconnaissance, so that multidirectional reconnaissance on a target can be well realized, and the reconnaissance capacity is improved, thereby better meeting the actual reconnaissance use requirements.

In the preferred embodiment of the present utility model, the land-air cooperative reconnaissance system 100 further comprises a solar panel 7 and a control device 8, wherein the control device 8 is fixed on the ground unmanned vehicle 1, and the solar panel 7 is configured on the top of the ground unmanned vehicle 1; the solar panel 7 is connected with the storage battery 11 through the control device 8, and when the air unmanned aerial vehicle 2 works, the control device 8 can be used for controlling the solar panel 7 to charge the storage battery 11, and the control device 8 can be used for controlling the storage battery 11 to discharge, so that the storage battery 11 can provide a required power supply for the air unmanned aerial vehicle 2; it should be noted that, whether the solar panel 7 is controlled by the control device 8 to be charged or the storage battery 11 is controlled by the control device 8 to be discharged, the present utility model belongs to the mature prior art, and a specific working principle is not described in detail herein. In the embodiment of the present utility model, the first scout mechanism 3 and the second scout mechanism 4 may be electrically connected to the control device 8, so that the control device 8 may be used to control the first scout mechanism 3 and the second scout mechanism 4. According to the utility model, the solar panel 7 is arranged at the top of the ground unmanned aerial vehicle 1, so that the solar panel 7 can be utilized to perform autonomous power generation in the using process, and the storage battery 11 can well meet the power supply requirement of the unmanned aerial vehicle 2, thereby being beneficial to further improving the reconnaissance duration of the unmanned aerial vehicle 2.

As a specific embodiment of the utility model, the control device 8 is fixedly assembled at the top of the ground unmanned vehicle 1, the landing platform 5 is fixedly arranged at the top of the control device 8, and the solar panel 7 is arranged at the top of the landing platform 5; of course, the solar panel 7 may also be laid on top of the control device 8, and the specific laying position may be adjusted according to actual needs.

As a specific embodiment of the present utility model, the mooring structure 6 includes a mooring cable 61, a wire spool (not shown), and a first driving member (not shown) using a motor; one end of the mooring cable 61 is electrically connected with the storage battery 11, and the other end of the mooring cable 61 is electrically connected with the aerial unmanned aerial vehicle 2, so that electric energy of the storage battery 11 can be transmitted to the aerial unmanned aerial vehicle 2 through the mooring cable 61, and normal operation of the aerial unmanned aerial vehicle 2 is ensured; the wire spool and the first driving component are both arranged in the ground unmanned aerial vehicle 1, and when the ground unmanned aerial vehicle 1 is in specific implementation, an opening 14 into which the mooring cable 61 extends is formed in the ground unmanned aerial vehicle 1 so that the mooring cable 61 extends into the ground unmanned aerial vehicle 1; the first driving part is connected with the wire spool, the mooring cable 61 is wound on the wire spool, the wire spool is driven to rotate by the first driving part to realize winding and unwinding, and when the aerial unmanned aerial vehicle 2 needs aerial reconnaissance in working, the wire spool is driven to rotate forward by the first driving part to enable the wire spool to release the wound mooring cable 61, so that the aerial unmanned aerial vehicle 2 can fly in the air; if the aerial vehicle 2 does not need aerial reconnaissance, the first driving part drives the wire spool to rotate reversely so that the wire spool winds the mooring cable 61, and the mooring cable 61 is ensured not to scatter on the ground vehicle 1 or the ground.

In the preferred embodiment of the present utility model, the first reconnaissance mechanism 3 includes at least a first lidar 31, a first illumination lamp 32, and a first camera 33; wherein the first lidar 31 is used for detecting obstacles, the first illumination lamp 32 is used for providing illumination, and the first camera 33 is used for shooting surrounding illumination;

the first lighting lamps 32 are fixedly arranged on two sides of the front end of the ground unmanned vehicle 1 so as to achieve a better lighting effect; the first laser radar 31 and the first camera 33 are both fixed in the middle of the front end of the ground unmanned vehicle 1. Of course, the present utility model is not limited to this, and in the specific implementation, the first camera 33 and other devices may be disposed at other positions (e.g. the rear end, two sides, etc.) of the ground unmanned vehicle 1 according to actual needs, so as to realize more comprehensive reconnaissance.

In the preferred embodiment of the present utility model, the second reconnaissance mechanism 4 includes at least a second lidar 41, a second illumination lamp 42, and a second camera 43; wherein the second lidar 41 is used for detecting obstacles, the second illumination lamp 42 is used for providing illumination, and the second camera 43 is used for shooting surrounding illumination;

the second laser radar 41 is fixedly arranged at the top of the aerial unmanned aerial vehicle 2; the second illumination lamp 42 and the second camera 43 are fixedly installed at the front end of the aerial unmanned aerial vehicle 2. Of course, the present utility model is not limited to this, and in the specific implementation, the second camera 43 and other devices may be disposed at other positions (such as the rear end and the like) of the aerial unmanned aerial vehicle 2 according to actual needs, so as to realize more comprehensive reconnaissance.

In the preferred embodiment of the present utility model, the ground drone 1 is a tracked drone for better adaptation to various complex environments on the ground.

As a specific embodiment of the present utility model, the ground unmanned aerial vehicle 1 includes an unmanned aerial vehicle body 12 and crawler traveling devices 13 mounted on both sides of the unmanned aerial vehicle body 12;

the crawler traveling device 13 comprises a traveling crawler 131, a driving wheel assembly 132, a driven wheel assembly 133, a suspension mechanism 134 and a tensioning mechanism 135; the driving wheel assembly 132 is arranged at one end of one side of the unmanned vehicle main body 12, the driven wheel assembly 133 is arranged at the other end of one side of the unmanned vehicle main body 12, and the walking caterpillar 131 is sleeved on the driving wheel assembly 132 and the driven wheel assembly 133;

the driving wheel assembly 132 includes a driving wheel 1321 and a second driving component 1322, the second driving component 1322 is a motor, the second driving component 1322 is fixed on the unmanned vehicle main body 12, and the driving wheel 1321 is connected with an output end of the second driving component 1322; the driven wheel assembly 133 comprises a connecting shaft 1331, a bearing 1332, a driven wheel 1333 and a connecting seat 1334, wherein the driven wheel 1333 is rotatably connected with one end of the connecting shaft 1331 through the bearing 1332, the other end of the connecting shaft 1331 is fixedly connected with the connecting seat 1334, and the connecting seat 1334 is in locking connection with the unmanned vehicle main body 12;

the suspension mechanism 134 is fixed in the middle of one side of the unmanned vehicle main body 12, and a guide wheel 136 in contact with the walking crawler 131 is rotatably arranged at the bottom of the suspension mechanism 134; one end of the tensioning mechanism 135 is disposed on the unmanned vehicle body 12, and the other end of the tensioning mechanism 135 is connected with the driven wheel assembly 133. The tensioning mechanism 135 comprises an adjusting screw 1351, a threaded seat 1352 and an adjusting nut 1353, wherein the threaded seat 1352 is fixed on the unmanned vehicle main body 12, the adjusting screw 1351 is in threaded connection with the threaded seat 1352, one end of the adjusting screw 1351 is fixedly connected with a connecting seat 1334 of the driven wheel assembly 133, and the other end of the adjusting screw 1351 is in threaded connection with the adjusting nut 1353; the connecting seat 1334 is provided with a waist-shaped adjusting hole 1335, and the connecting seat 1334 and the unmanned vehicle main body 12 are connected together in a locking way through a locking piece 1336 (such as a screw or a bolt); in use, the position of the driven wheel 1333 can be adjusted by rotating the adjusting nut 1353 to tension the walking track 131.

As a specific embodiment of the present utility model, the aerial unmanned aerial vehicle 2 is a multi-rotor unmanned aerial vehicle, for example, the aerial unmanned aerial vehicle 2 is a quad-rotor unmanned aerial vehicle.

When the ground-air collaborative reconnaissance system 100 executes a reconnaissance task, an aerial unmanned aerial vehicle 2 is carried on a ground unmanned aerial vehicle 1 to walk to a target reconnaissance area, and the unmanned aerial vehicle 2 is in a non-working state in the process so as to keep the electric energy of a storage battery 11 from being consumed as much as possible; after reaching the target reconnaissance area, the first driving part drives the wire reel to pay off, and simultaneously controls the aerial unmanned aerial vehicle 2 to take off and execute the aerial reconnaissance task, the ground unmanned aerial vehicle 1 executes the reconnaissance task on the ground, and in the process of executing the reconnaissance task, the storage battery 11 on the ground unmanned aerial vehicle 1 is used for continuously supplying power to the aerial unmanned aerial vehicle 2, and the solar panel 7 is controlled by the daytime control device 8 to charge the storage battery 11 so as to recover the electric energy of the storage battery 11. After the reconnaissance task is completed, the first driving component drives the wire reel to take up wires and controls the aerial unmanned aerial vehicle 2 to stop on the landing platform 5 of the ground unmanned aerial vehicle 1, so that the ground unmanned aerial vehicle 1 is utilized to carry the aerial unmanned aerial vehicle 2 to transfer the reconnaissance site.

While specific embodiments of the utility model have been described above, it will be appreciated by those skilled in the art that the specific embodiments described are illustrative only and not intended to limit the scope of the utility model, and that equivalent modifications and variations of the utility model in light of the spirit of the utility model will be covered by the claims of the present utility model.

Claims (7)

1. A land-air collaborative reconnaissance system comprises a ground unmanned vehicle and an air unmanned vehicle; the method is characterized in that: the ground unmanned aerial vehicle is fixedly provided with a first reconnaissance mechanism, and the aerial unmanned aerial vehicle is fixedly provided with a second reconnaissance mechanism; a landing platform for the aerial unmanned aerial vehicle to land is formed at the top of the ground unmanned aerial vehicle; the ground unmanned aerial vehicle is provided with a storage battery, and the aerial unmanned aerial vehicle is electrically connected with the storage battery through a mooring structure; the solar energy control system comprises a ground unmanned vehicle, a solar energy panel and a control device, wherein the control device is fixed on the ground unmanned vehicle, and the solar energy panel is arranged at the top of the ground unmanned vehicle; the solar panel is connected with the storage battery through the control device.

2. A land-air collaborative reconnaissance system according to claim 1 wherein: the mooring structure comprises a mooring cable, a wire spool and a first driving part; one end of the mooring cable is electrically connected with the storage battery, and the other end of the mooring cable is electrically connected with the aerial unmanned aerial vehicle; the wire spool and the first driving part are both arranged in the ground unmanned vehicle; the first driving part is connected with the wire spool, the mooring cable is wound on the wire spool, and the wire spool is driven to rotate through the first driving part to realize winding and unwinding.

3. A land-air collaborative reconnaissance system according to claim 1 wherein: the first reconnaissance mechanism at least comprises a first laser radar, a first lighting lamp and a first camera; the two sides of the front end of the ground unmanned vehicle are fixedly provided with first lighting lamps; the first laser radar and the first camera are both fixed in the middle of the front end of the ground unmanned vehicle.

4. A land-air collaborative reconnaissance system according to claim 1 wherein: the second reconnaissance mechanism at least comprises a second laser radar, a second lighting lamp and a second camera; the second laser radar is fixedly arranged at the top of the aerial unmanned aerial vehicle; the second illuminating lamp and the second camera are fixedly arranged at the front end of the aerial unmanned aerial vehicle.

5. A land-air collaborative reconnaissance system according to any of claims 1-4 wherein: the ground unmanned vehicle is a crawler-type unmanned vehicle.

6. A land-air collaborative reconnaissance system according to claim 5 wherein: the ground unmanned aerial vehicle comprises an unmanned aerial vehicle main body and crawler traveling devices assembled on two sides of the unmanned aerial vehicle main body;

the crawler traveling device comprises a traveling crawler, a driving wheel assembly, a driven wheel assembly, a suspension mechanism and a tensioning mechanism; the driving wheel assembly is arranged at one end of one side of the unmanned aerial vehicle body, the driven wheel assembly is arranged at the other end of the other side of the unmanned aerial vehicle body, and the walking crawler belt is sleeved on the driving wheel assembly and the driven wheel assembly; the suspension mechanism is fixed in the middle of one side of the unmanned aerial vehicle body, and a guide wheel contacted with the walking caterpillar is rotatably arranged at the bottom of the suspension mechanism; one end of the tensioning mechanism is arranged on the unmanned vehicle body, and the other end of the tensioning mechanism is connected with the driven wheel assembly.

7. A land-air collaborative reconnaissance system according to any of claims 1-4 wherein: the aerial unmanned aerial vehicle is a multi-rotor unmanned aerial vehicle.