WO2018090325A1 - 救生物品投放装置及无人飞行器 - Google Patents

救生物品投放装置及无人飞行器 Download PDF

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Publication number
WO2018090325A1
WO2018090325A1 PCT/CN2016/106405 CN2016106405W WO2018090325A1 WO 2018090325 A1 WO2018090325 A1 WO 2018090325A1 CN 2016106405 W CN2016106405 W CN 2016106405W WO 2018090325 A1 WO2018090325 A1 WO 2018090325A1
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WO
WIPO (PCT)
Prior art keywords
life
rope
lifebuoy
saving
positioning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/106405
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English (en)
French (fr)
Inventor
丘力
孙久之
吴旭民
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201680004027.5A priority Critical patent/CN107000843B/zh
Priority to PCT/CN2016/106405 priority patent/WO2018090325A1/zh
Publication of WO2018090325A1 publication Critical patent/WO2018090325A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
    • B64D1/02—Dropping, ejecting, or releasing articles
    • B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
    • B64D1/12—Releasing
    • 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
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
    • B64U2101/64—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons for parcel delivery or retrieval

Definitions

  • the invention relates to the field of unmanned aerial vehicles, and in particular to a life-saving article placing device and an unmanned aerial vehicle.
  • the drone can easily reach the rescue site and observe it through the on-board camera and deliver rescue items.
  • the main delivery method is to tie the rescue item to the rope through the rope, and cut off the rope at the designated position by the cutting device to drop the rescue item.
  • the invention provides a life-saving article placing device and an unmanned aerial vehicle, which can realize the placement of a plurality of places and a plurality of life-saving articles.
  • the present invention provides a life-saving article dispensing device comprising a hook unit and at least two rope assemblies for connecting to different life-saving articles to be placed;
  • the hook unit has at least two locking portions, at least two The locking portion can be opened and closed; when the locking portion is closed, each of the rope assemblies can be locked by the corresponding locking portion for fixing the corresponding life-saving article to be placed; when the at least two locking portions are sequentially opened, the rope assembly
  • the lock can be unlocked from the lock portion in sequence for sequentially placing the life-saving articles to be placed.
  • the present invention provides an unmanned aerial vehicle comprising a frame and a life-saving article placing device as described above, wherein the hook unit in the life-saving article placing device is fixedly connected to the frame, and one end of the rope assembly is fixed to the frame On the other end, locked in the hook unit to fix the life-saving article Set on the rack.
  • the life-saving article placing device comprises a hook unit and at least two rope assemblies for connecting with different life-saving articles to be placed;
  • the hook unit has at least two locking portions, at least The two locking portions can be opened and closed; when the locking portion is closed, each of the rope assemblies can be locked by the corresponding locking portion for fixing the corresponding life-saving articles to be placed; when at least two locking portions are sequentially opened,
  • the cord assembly can be unlocked from the lock portion in sequence for sequentially placing the lifesaving item to be placed. In this way, by sequentially opening the locking portion, one or more pieces of the life-saving articles to be placed can be placed in a plurality of different places, and the degree of freedom of placement is high.
  • FIG. 1 is a schematic structural view of a rescue article placing device according to Embodiment 1 of the present invention.
  • Figure 2 is a schematic exploded view of the hook unit of Figure 1;
  • Figure 3a is a schematic view showing the first connection manner of the rope assembly and the lifebuoy in the first embodiment of the present invention
  • Figure 3b is a schematic view showing the second connection mode of the rope assembly and the lifebuoy in the first embodiment of the present invention
  • FIG. 4 is a schematic view showing another structure of a life saving article placing device according to Embodiment 1 of the present invention.
  • FIG. 5 is a front elevational view showing the structure of an unmanned aerial vehicle according to Embodiment 2 of the present invention.
  • FIG. 6 is a side elevational view of an unmanned aerial vehicle according to a second embodiment of the present invention.
  • the life-saving article placing device 100 provided in this embodiment specifically includes: a hook unit 1 and at least two rope assemblies 2 for connecting with different life-saving articles to be placed; the hook unit 1 has At least two locking portions, at least two locking portions can be opened and closed; when the locking portion is closed, each of the rope assemblies 2 can be locked by a corresponding locking portion for fixing the life-saving article 200 to be placed; at least two When the locking portions are sequentially opened, the rope assembly 2 can be unlocked in sequence with the locking portion for placing the life-saving article 200 to be placed.
  • the life-saving article placing device 100 may be disposed on the unmanned aerial vehicle and connected to the frame or the body of the UAV by a structure such as a fastener or a fixing bracket.
  • the life-saving article dispensing device 100 includes a hook unit 1 that is generally fixedly coupled to the unmanned aerial vehicle and has at least two latching portions on the hook unit 1. Each of the latches can be independently opened and closed to lock the cord assembly 2 or to unlock the cord assembly 2.
  • the rope assembly 2 cannot be disengaged and locked on the locking portion; when the locking portion is opened, the originally locked portion of the rope assembly 2 can be disengaged from the locking portion, so that one end of the rope assembly 2 is Untie and release the life-saving items to be placed, and the life-saving items to be placed will be placed under the action of gravity to the designated place and rescue activities will be carried out.
  • the other end of the rope assembly 2 is still fixedly connected to the UAV, so that it can be reused.
  • the rope assembly 2 may also be fixed only to the locking portion, and when the locking portion is opened, the rope assembly 2 as a whole is unlocked from the locking portion. Thus, after the limit of the hook unit 1 is lost, the rope assembly 2 is placed under the action of gravity with the life-saving item to be placed.
  • each hook unit 1 can achieve positioning and locking of at least two rope assemblies.
  • Each rope assembly 2 can be fixed with a life-saving item to be placed.
  • one or more pieces of different life-saving items to be placed can be dropped to achieve single-piece delivery or multiple-piece delivery.
  • the following is usually two locking portions on the hook unit 1, each for locking a rope assembly, and one rope assembly for fixing a life-saving article to be placed as an example.
  • each of the locking portions is not limited to locking one rope assembly, and may also be used to lock two or more rope assemblies; each rope assembly is not limited to fixing one life-saving article to be placed, but may be two One or more quantities of lifesaving items to be placed.
  • the locking portion can be a plurality of openable and closable structures, such as various types of hooks or opening and closing mechanisms, etc., and is not limited herein, as long as the locking portion can complete the locking and unlocking release of the rope assembly 2 can.
  • the locking and unlocking of the locking portion can be achieved by using the card slot and the notch structure.
  • each of the locking portions may include a positioning groove 11 , and the notch 11 a of the positioning groove 11 may be opened and closed.
  • each locking portion includes a positioning groove, all the positioning grooves can be arranged in the same direction, so that when the notches of the positioning groove are sequentially opened, at least two rope components respectively locked in different positioning grooves can be sequentially The detachment from the positioning groove enables the sequential delivery of the lifesaving articles.
  • the positioning groove 11 on the hook unit 1 has a compact structure in order to facilitate the fixing and subsequent placement of the object on the unmanned aerial vehicle.
  • the at least two positioning slots may include a first positioning slot 111 and a second positioning slot 112.
  • the first positioning slot 111 and the second positioning slot 112 are spaced apart in the same direction, when the slot of the first positioning slot 111 and the first slot
  • the two rope assemblies respectively locked in the first positioning slot 111 and the second positioning slot 112 can be detached from the first positioning slot 111 and the second positioning slot 112 in sequence.
  • the rope assembly 2 and the life-saving articles to be placed can also be placed in the order of the fixed positioning grooves in order, thereby effectively saving the space of the unmanned aerial vehicle while being carried out.
  • the slots 11a of the positioning slot 11 can be sequentially opened, so that the life-saving items to be placed are sequentially dropped, and the placing process is convenient and quick.
  • the positioning slots may also be arranged along the same direction, and details are not described herein again.
  • the hook unit can generally have a movable split structure.
  • the hook unit 1 may further include a movable member, the movable member is movably disposed at the notch 11a of the positioning groove 11, and the movable member is opposite to the positioning groove 11 When moving, the notches 11a of one or more positioning slots 11 can be opened.
  • the movable member for opening and closing the notch 11a of the positioning groove 11 can be of various structures and patterns.
  • the movable member may be disposed as a locking lever 12, and the locking lever 12 is slidably disposed at the notch 11a of the positioning slot 11, and the sliding direction of the locking lever 12 is the same as the alignment direction of the positioning slot 11;
  • the locking lever 12 slides in the direction in which the positioning slots 11 are arranged, the locking lever 12 can sequentially pass through the slots of the at least two positioning slots to open one or more positioning slots.
  • the hook unit 1 has a first positioning slot 111 and a second positioning slot 112.
  • the hook unit 1 is provided with a through hole or a sliding slot for facilitating the translational sliding of the locking lever.
  • the length of the locking lever 12 is long. Generally, it is longer than the total length of the first positioning groove 111 and the second positioning groove 112 at the notch 11a.
  • the shaft of the locking rod 12 can sequentially lock the notches of the first positioning groove 111 and the second positioning groove 112.
  • the second positioning groove 112 and the first positioning groove 111 can be sequentially opened by staying at different positions.
  • the second positioning slot 112 can be opened first; while the shaft of the locking rod 12 continues to retract from the slot of the first positioning slot 111.
  • the second positioning slot 112 and the first positioning slot 111 can be ensured to be in an open state.
  • the slidable locking rod 12 is used for locking, and the movement of the plurality of positioning grooves can be realized by only one moving piece, the operation is convenient and the reliability is high.
  • the through hole 13 can be opened in the groove wall of the positioning groove 11 near the notch 11a, and all the positioning grooves 11 are provided.
  • the through holes 13 are oppositely disposed, and the locking rod 12 is bored in the through hole 13.
  • the through holes in the respective positioning grooves together form a straight passage, and the locking rod 12 can freely slide and slide through the passage formed by the through holes to lock the notches 11a of the different positioning grooves 11.
  • the movable member can also be in other different structural styles.
  • the movable member may be an arc-shaped structural member spanning the notch 11a of each positioning groove 11, and when both ends of the curved structural member are connected with the notch 11a of the positioning groove 11, the rope assembly in the positioning groove 11 2 is locked; when one end of the curved structural member is unlocked and rotated about the other end, the notch 11a of the positioning groove 11 is opened, so that the rope assembly 2 located therein can be disengaged.
  • the hook unit 1 is correspondingly provided with a drive mechanism.
  • the drive mechanism of the hook unit 1 may further include a drive motor 14, a swing arm 15 and a link 16, wherein the output end of the drive motor 14 and the swing arm 15 The swing center is connected, the end of the swing arm 15 is hinged with the first end of the connecting rod 16, the second end of the connecting rod 16 is connected with the locking rod 12, and the swing arm 15 is swung around the swing center under the driving of the driving motor 14, the connecting rod 16 drives the lock lever 12 to cause sliding.
  • the driving motor 14 can be a steering gear, and can generally be connected to a controller on the UAV to determine the rotation angle of the steering gear according to the electrical signal sent by the controller.
  • the output end of the drive motor 14 is coupled to the swing center of the swing arm 15, and when the drive motor 14 rotates, the swing arm 15 is rotated to a different angular position.
  • the lock lever 12 and the swing arm 15 are in a linked state, so that they can be slid to different positions under the swinging motion of the swing arm 15.
  • the swing angle of the swing arm 15 is approximately 90°, for example, when the swing arm 15 is in a direction almost parallel to the direction in which the positioning grooves 11 are arranged, the lock lever 12 is fully retracted, both positioning slots are in an open state; and when the swing arm 15 is located in a direction perpendicular to the direction in which the positioning slots 11 are arranged, the locking lever 12 is extended to a maximum length, so that the two positioning slots are locked;
  • the direction of the arrangement of the swing arm 15 and the positioning groove 11 is approximately 45°, that is, when the swing arm 15 is in the intermediate swing position, the first positioning slot 111 is still in the locked closed state, and the second positioning slot 112 is The notch is opened.
  • the sequential opening and closing of the different positioning grooves can be controlled.
  • the swinging arm 15 performs a rotary oscillating motion about the center of the swing, and the lock lever 12 reciprocates along a linear motion trajectory, the motion trajectories of the two are not coincident, so that the swing arm 15 and the lock lever 12 can also be disposed between
  • the power transmitting link 16 the end of the swing arm 15 is hinged to the first end of the link 16, and the second end of the link 16 is coupled to the lock lever 12 such that the swing arm 15 swings around the swing center driven by the drive motor 14.
  • the connecting rod 16 can drive the locking rod 12 to slide.
  • the determining motor 14 is not limited to driving the above-mentioned linkage mechanism, and the driving motor 14 can also drive a combination of a gear and a rack or drive a structure such as a cylinder or a hydraulic cylinder to convert the rotational motion into The linear motion, thereby driving the lock lever 12 in the present embodiment, achieves linear translational sliding.
  • the hook unit 1 is generally fixed to the unmanned aerial vehicle in an approximately vertical posture, and the alignment direction of the positioning groove 11 is also approximately vertical.
  • the hook unit 1 opens the notch 11a of the positioning groove 11 for the placement of the rope assembly 2, in order to facilitate the placement, the rope assembly 2 is prevented from being caught in the positioning groove 11 due to frictional factors and the like, and at least one groove wall of the positioning groove 11 is prevented. It should be a bevel.
  • the bevel groove wall cannot support the fixing rope assembly 2, which causes the rope assembly 2 to slide down the slope under the action of gravity, and finally disengages from the hook unit 1, thus effectively avoiding the hook The failure of the unit 1 due to the stuck of the rope assembly 2.
  • the rope assembly 2 includes a cord 21 for binding to the life-saving article to be placed in order to accommodate different shapes of the life-saving article.
  • the flexible rope can be adapted to different shapes of the surface, and is conveniently fixed by placing the life-saving article 200 in a bundled manner, so that it can be applied to different shapes and different kinds of life-saving articles to be placed, so that the degree of freedom of placement is higher.
  • the rope assembly 2 further includes a fixing ring 22 fixedly connected to the end of the rope 21, the fixing ring 22 can be inserted into or detached from the locking portion, and the rope 21 is locked by the fixing ring 22. It is detached from the hook unit 1 or from the hook unit 1. Since the fixing ring 22 is generally made of a hard material such as stainless steel and has a fixed shape, it is easy to handle. After the cable assembly 2 is provided with the fixing ring 22 for easy access, the quick connection and disassembly between the rope assembly 2 and the hook unit 1 can be realized, and the loading efficiency of the articles to be placed can be improved.
  • the rope 21 is typically an elastic cord.
  • the elastic rope 21 can be tightly tied to the life-saving article to be placed by its own elastic force, and avoids the displacement and looseness caused by the unfastened binding of the life-saving article to be placed. Further, when the notch 11a of the positioning groove 11 is opened, the elastic cord can be easily detached from the positioning groove 11 by its own elastic force, further enhancing the reliability of the placement.
  • the rope 21 can be made of a material such as a rubber band.
  • the life-saving article 200 to be placed may be a lifebuoy or other item capable of being rescued.
  • the lifebuoy placement device 100 is used to realize the placement of the lifebuoy, and the rescue personnel are taken as an example for explanation.
  • the cord assembly 2 can be cross-bundled onto the lifebuoy for secure attachment of the lifebuoy.
  • the rope assembly 2 can also be attached directly to a portion of the lifebuoy to be coupled to the lifebuoy.
  • connection of the lifebuoy may vary depending on the position of the lifebuoy.
  • the position of the lifebuoy relative to the life-saving article placement device should be relatively fixed, and preferably in the life-saving article placement device. Outside.
  • the different connections between several rope assemblies and the lifebuoy are given below.
  • Fig. 3a is a schematic view showing the first connection mode of the rope assembly and the lifebuoy in the first embodiment of the present invention.
  • the rope assembly comprises two ropes 21a and 21b, one of which extends from the top of the lifebuoy 201 to the middle of the lifebuoy 201, with the other extending from the bottom of the lifebuoy 201 to the lifebuoy
  • the life-saving article placing device 100 is disposed in the middle of the lifebuoy 100, and the two ropes 21a and 21b overlap each other in the middle of the lifebuoy 100 to be worn in one of the locking portions of the life-saving article placing device 100, such as a positioning groove.
  • the lifebuoy 201 is fixed together with a structure such as a frame or a fuselage of the UAV.
  • one side of the lifebuoy 201 is fixed on the upper and lower sides of the lifebuoy, and the other side is supported by the structure of the unmanned aerial vehicle, the positioning is relatively firm, and the position is relatively fixed, and no large movement is caused, which is beneficial to the unmanned person. Safe flight of the aircraft.
  • Figure 3b is a schematic view showing the second connection mode of the rope assembly and the lifebuoy in the first embodiment of the present invention.
  • the rope assembly may also include a rope 21c having one end extending from one of the top and bottom ends of the lifebuoy 201, and the other end of the rope 21c being disposed at the top of the lifebuoy 201 and the other of the One of the locking portions of the life-saving article dispensing device 100 at one end, for example, is positioned in the positioning groove 11 to fix the lifebuoy 201.
  • the two ends of the rope 21c are respectively obtained by the structure of the life-saving article placing device 100 and the UAV itself, such as the fixing of the tripod or the arm, and the rope 21c will cooperate with the stand or the arm of the UAV to the lifebuoy 201. It is firmly fixed above or below the life-saving article placing device 100.
  • the lifebuoy can be fixed and placed with only one rope, and the connection is simple and economical.
  • the connection manner between the lifebuoy and the rope assembly is not limited to the above two types, and may be other ways to facilitate the connection and fixing, and details are not described herein again.
  • Fig. 4 is a schematic view showing another structure of the lifesaving article dispensing device in the first embodiment of the present invention.
  • the life-saving article placing device 100 can realize the operation of a single lifebuoy, the two lifebuoys are placed at different times or places, and the two lifebuoys are simultaneously placed, so that the flexibility of the rescue is high, and the load of the two lifebuoys is small, and the guarantee can be ensured. Normal flight of a human aircraft.
  • the life-saving article placing device specifically includes a hook unit and at least two for Different rope assemblies to be connected with the life-saving articles;
  • the hook unit has at least two locking portions, at least two locking portions can be opened and closed; when the locking portions are closed, each rope assembly can be correspondingly locked The part is locked for fixing the corresponding life-saving item to be placed; when the locking part is opened, the rope component can be unlocked with the locking part in sequence for sequentially placing the life-saving article to be placed.
  • FIG. 5 is a front elevational view showing the structure of an unmanned aerial vehicle according to Embodiment 2 of the present invention.
  • 6 is a side elevational view of an unmanned aerial vehicle according to a second embodiment of the present invention.
  • the unmanned aerial vehicle provided in this embodiment specifically includes a rack 301 and a life-saving article placing device 300 according to the second embodiment, and the hook unit 1 in the life-saving article placing device 300 and The frame 301 is fixedly connected, one end of the rope assembly is fixed to the frame 301, and the other end is locked in the hook unit 1 to fix the life-saving article on the frame 301.
  • the bottom end of the frame 301 of the UAV can be used for take-off and landing, and the life-saving article placing device 300 is disposed in the middle or lower portion of the rack 301, and there is no obstruction under the life-saving article placing device 300 to ensure that the life-saving article can be normally placed.
  • the life-saving article dispensing device 300 may be disposed on the side of the frame 301, and the locking portions in the life-saving article dispensing device 300 are arranged in the vertical direction.
  • the life-saving article placing device 300 is located outside the frame 301, and is not interfered by the structure of the UAV itself.
  • the positioning grooves are arranged in the vertical direction, and when the clothes are placed, the life-saving articles such as the rope assembly and the lifebuoy can be freely dropped by gravity in order to be placed in an orderly manner.
  • a life-saving article placing device 300 is fixedly connected to the left and right sides of the frame 301.
  • the two life-saving article placing devices are symmetrically arranged with respect to the central axis of the unmanned aerial vehicle, which can effectively ensure the balance during flight.
  • two or more lifebuoys 201 can be mounted in each life-saving article placing device 300.
  • the entire unmanned aerial vehicle can be mounted with four or more lifebuoys 201, which can satisfy more people falling into the water. Rescue needs.
  • the UAV may further include a camera 302, the camera 302 is disposed on the frame 301, and the camera 302 can realize multi-angle shooting, so that the operator of the UAV can Get a live rescue image at a time to achieve real-time visual rescue.
  • the unmanned aerial vehicle includes a rack and a life-saving article placing device, and the placing unit in the life-saving article placing device is fixedly connected to the rack, wherein the life-saving article placing device specifically includes a hook unit and at least two for Different rope assemblies to be connected with the life-saving articles; the hook unit has at least two locking portions, at least two locking portions can be opened and closed; when the locking portions are closed, each rope assembly can be correspondingly locked The part is locked for fixing the corresponding life-saving item to be placed; when the locking part is opened, the rope component can be unlocked with the locking part in sequence for sequentially placing the life-saving article to be placed.
  • the life-saving article placing device specifically includes a hook unit and at least two for Different rope assemblies to be connected with the life-saving articles
  • the hook unit has at least two locking portions, at least two locking portions can be opened and closed; when the locking portions are closed, each rope assembly can be correspondingly locked The part is locked for fixing the corresponding life-saving item to be placed; when the locking part is opened,

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Emergency Lowering Means (AREA)
  • Refuge Islands, Traffic Blockers, Or Guard Fence (AREA)
  • Catching Or Destruction (AREA)

Abstract

一种救生物品投放装置（100）及无人飞行器。救生物品投放装置（100）包括卡勾单元（1）和至少两个用于与不同的待投放救生物品（200）连接的绳索组件（2）；卡勾单元（1）具有至少两个锁合部，所述至少两个锁合部均可开闭；所述锁合部闭合时，每个绳索组件（2）均能够被对应的锁合部锁定，用于固定对应的所述待投放救生物品（200）；所述至少两个锁合部依次打开时，绳索组件（2）能够依次与所述锁合部解除锁定，用于依次投放所述待投放救生物品（200），从而能够实现多个地点、多件救生物品的投放。

Description

救生物品投放装置及无人飞行器 技术领域
本发明涉及无人飞行器领域，尤其涉及一种救生物品投放装置及无人飞行器。
背景技术
随着科技的不断进步，无人飞行器因其具有使用成本低、速度快的优点，因而得到了广泛的应用。
目前，在救援领域中，无人机可以方便地抵达救援现场，并通过机载摄像机进行观察，并投放救援物品。目前主要的投放方式为通过绳索将救援物品绑系于其上，并通过切割装置在指定位置将绳索隔断，投下救援物品。
然而，目前的无人机空投方式，一般只能一次性将所有救援物品投下，而无法完成在多个不同地点的投放任务。
发明内容
本发明提供一种救生物品投放装置及无人飞行器，能够实现多个地点、多件救生物品的投放。
第一方面，本发明提供一种救生物品投放装置，包括卡勾单元和至少两个用于与不同的待投放救生物品连接的绳索组件；卡勾单元具有至少两个锁合部，至少两个锁合部均可开闭；锁合部闭合时，每个绳索组件均能够被对应的锁合部锁定，用于固定对应的待投放救生物品；至少两个锁合部依次打开时，绳索组件能够从依次与锁合部解除锁定，用于依次投放待投放救生物品。
第二方面，本发明提供一种无人飞行器，包括机架和如上所述的救生物品投放装置，救生物品投放装置中的卡勾单元与机架固定连接，绳索组件的其中一端固定于机架上，另一端锁定于卡勾单元中，以将救生物品固 定于机架上。
本发明的救生物品投放装置及无人飞行器，救生物品投放装置包括卡勾单元和至少两个用于与不同的待投放救生物品连接的绳索组件；卡勾单元具有至少两个锁合部，至少两个锁合部均可开闭；锁合部闭合时，每个绳索组件均能够被对应的锁合部锁定，用于固定对应的待投放救生物品；至少两个锁合部依次打开时，绳索组件能够从依次与锁合部解除锁定，用于依次投放待投放救生物品。这样可以通过依次打开锁合部，以实现单件或者多件待投放救生物品在多个不同地点的投放，投放自由度较高。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例一提供的救生物品投放装置的结构示意图；
图2是图1中卡勾单元的爆炸示意图；
图3a是本发明实施例一中绳索组件与救生圈的第一种连接方式示意图；
图3b是本发明实施例一中绳索组件与救生圈的第二种连接方式示意图；
图4是本发明实施例一中救生物品投放装置的另一种结构示意图；
图5是本发明实施例二提供的一种无人飞行器的结构正视示意图；
图6是本发明实施例二提供的一种无人飞行器的侧视示意图。
附图标记说明：
1—卡勾单元；2—绳索组件；11—定位槽；12—锁定杆；13—通孔；14—驱动电机；15—摆动臂；16—连杆；21、21a、21b、21c—绳索；22—固定环；111—第一定位槽；112—第二定位槽；100、300—救生物品投放装置；200—救生物品；201—救生圈；301—机架；302—摄像头；11a—槽口。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
图1是本发明实施例一提供的救生物品投放装置的结构示意图。图2是图1中卡勾单元的爆炸示意图。如图1和图2所示，本实施例提供的救生物品投放装置100具体包括：卡勾单元1和至少两个用于与不同的待投放救生物品连接的绳索组件2；卡勾单元1具有至少两个锁合部，至少两个锁合部均可开闭；锁合部闭合时，每个绳索组件2均能够被对应的锁合部锁定，用于固定待投放救生物品200；至少两个锁合部依次打开时，绳索组件2能够依次与锁合部解除锁定，用于投放待投放救生物品200。
具体的，救生物品投放装置100可以设置于无人飞行器上，并通过紧固件或者固定支架等结构与无人飞行器的机架或者机体相连接。救生物品投放装置100包括有卡勾单元1，卡勾单元1通常与无人飞行器固定连接，且卡勾单元1上具有至少两个锁合部。每个锁合部均可以独立开闭，以锁定绳索组件2，或者与绳索组件2解除锁定。当锁合部闭合时，绳索组件2无法脱离，并锁定在锁合部上；当锁合部打开，绳索组件2的原先被锁定的部位可以脱离锁合部，从而让绳索组件2的一端被解开，并释放待投放救生物品，待投放救生物品就会在重力作用下被投放至指定地点，并进行救援活动。而绳索组件2的另一端仍和无人飞行器固定连接，从而可以重复利用。
需要说明的是，绳索组件2也可以为仅和锁合部固定在一起，并当锁合部打开时，绳索组件2整体与锁合部解锁脱离。这样在失去卡勾单元1的限位后，绳索组件2会在重力作用下与待投放救生物品一同被投放。
由于卡勾单元1上的锁合部具有至少两个，所以每个卡勾单元1可以对至少两个绳索组件实现定位锁定和投放。每个绳索组件2均可以固定一个待投放救生物品，当不同锁合部实现各自的开闭功能时，可将一件或多件不同待投放救生物品投下，以实现单件投放或者多件投放功能。以下为 便于叙述，通常以卡勾单元1上具有两个锁合部，每个锁合部用于锁定一个绳索组件，一个绳索组件用于固定一个待投放的救生物品为例进行说明。当然，每个锁合部并不限于用于锁定一个绳索组件，也可以用于锁定两个或以上数量的绳索组件；每个绳索组件也不限于固定一个待投放的救生物品，而可以是两个或以上数量的待投放救生物品。
可选的，锁合部可以为多种可开闭的结构，如各类卡勾或者开合机构等，此处不加以限制，只要锁合部能够完成对绳索组件2的锁定与解锁释放即可。例如，可以利用卡槽及缺口结构实现锁合部的锁定与解锁。此时，每个锁合部可包括一定位槽11，定位槽11的槽口11a可开闭。当定位槽11的槽口11a闭合时，定位槽11内形成了闭合的空间，使得绳索组件2无法脱离该定位槽11，并被锁定在该定位槽11中；当定位槽11的槽口11a打开时，绳索组件2可以解锁并释放。由于每个锁合部均包括有一个定位槽，所以所有定位槽可沿同一方向间隔排列，这样当定位槽的槽口依次打开时，分别锁定于不同定位槽中的至少两个绳索组件能够依次从定位槽中脱离，从而实现救生物品的依次投放。通常的，由于无人飞行器的尺寸较小，为了便于进行物体在无人飞行器上的固定以及后续投放，卡勾单元1上的定位槽11具有紧凑的结构。具体的，至少两个定位槽可包括第一定位槽111和第二定位槽112，第一定位槽111和第二定位槽112沿同一方向间隔排列，当第一定位槽111的槽口和第二定位槽112的槽口依次打开时，分别锁定于第一定位槽111和第二定位槽112中的两个绳索组件能够依次从第一定位槽111和第二定位槽112中脱离。由于定位槽沿着同一方向依次间隔排列，所以绳索组件2和待投放救生物品也可对应于所固定的定位槽的顺序以依次顺序摆放，从而有效节省无人飞行器的机上空间，同时在进行投放时，也可以通过定位槽11的槽口11a的依次顺序打开，使待投放救生物品依次投下，投放过程较为方便快捷。此外，当定位槽11的数量为两个以上时，这些定位槽也可以均沿着同样的方向间隔排列，此处不再赘述。
其中，为了便于实现定位槽11的槽口11a的开闭操作，一般可以让卡勾单元具有可活动的分体式结构。具体的，卡勾单元1还可包括活动件，活动件可移动地设置在定位槽11的槽口11a处，活动件相对于定位槽11 移动时，可打开一个或多个定位槽11的槽口11a。
用于开闭定位槽11的槽口11a的活动件，可以为多种不同的结构及样式。作为一种优选的实施方式，活动件可设置为锁定杆12，锁定杆12可滑动地设置在定位槽11的槽口11a处，且锁定杆12的滑动方向与定位槽11的排列方向相同；锁定杆12沿定位槽11的排列方向滑动时，锁定杆12能够依次穿过至少两个定位槽的槽口，以打开一个或多个定位槽。
仍旧以卡勾单元1上具有第一定位槽111和第二定位槽112为例，在卡勾单元1上设置有通孔或者滑槽等便于锁定杆平移滑动的机构，锁定杆12的杆长一般长于第一定位槽111和第二定位槽112在槽口11a处的总长度。锁定杆12沿着定位槽11的排列方向滑动时，锁定杆12的杆身可以依次锁住第一定位槽111以及第二定位槽112的槽口。而当锁定杆12沿反方向滑动时，可以通过停留在不同位置而依次打开第二定位槽112和第一定位槽111。具体的，当锁定杆12的杆身从第二定位槽112的槽口退回时，可先打开第二定位槽112；而锁定杆12的杆身继续从第一定位槽111的槽口退回时，可保证第二定位槽112和第一定位槽111均为打开状态。采用可滑动的锁定杆12进行锁定，可以仅用一个活动件的移动，就实现多个定位槽的打开，操作较为便捷，且可靠性较高。
因为无人飞行器的机上空间较为紧凑，为了利用简单的结构实现锁定杆12的平移滑动，可在定位槽11的靠近槽口11a的槽壁上均开设有通孔13，且所有定位槽11上的通孔13均相对设置，锁定杆12穿设在通孔13中。这样各个定位槽上的通孔共同构成了一个平直的通道，锁定杆12可以通过这些通孔所形成的通道自由的平移滑动，以锁定不同定位槽11的槽口11a。通过在定位槽11的槽壁上设置通孔13，可以避免在卡勾单元1上设置复杂的滑动导轨，从而有效简化结构，节省空间占用并减少整个装置的重量。
此外，可以理解的是，活动件也可以为其它的不同结构样式。例如，活动件可以为跨接在每个定位槽11的槽口11a的弧形结构件，弧形结构件的两端均和定位槽11的槽口11a连接时，定位槽11中的绳索组件2被锁定；弧形结构件的其中一端解锁，并绕另一端转动时，该定位槽11的槽口11a被打开，从而可让位于其中的绳索组件2脱出。
为了驱动用于开闭定位槽11的活动件，卡勾单元1上相应的设置有驱动机构。对于活动件为锁定杆12的情况而言，相应的，卡勾单元1的驱动机构还可以包括驱动电机14、摆动臂15和连杆16，其中，驱动电机14的输出端和摆动臂15的摆动中心连接，摆动臂15的末端与连杆16的第一端铰接，连杆16的第二端与锁定杆12连接，摆动臂15在驱动电机14的驱使下绕摆动中心摆动时，连杆16带动锁定杆12产生滑动。
具体的，驱动电机14可以为舵机，一般可以和无人飞行器上的控制器相连接，以根据控制器发送的电信号决定舵机的旋转角度。驱动电机14的输出端与摆动臂15的摆动中心连接，当驱动电机14旋转时，摆动臂15会相应的转动至不同角度位置。而锁定杆12和摆动臂15为联动状态，所以可在摆动臂15的摆动运动下滑动至不同位置。一般的，在卡勾单元1上具有两个定位槽时，摆动臂15的摆动角度范围大致为90°左右，例如摆动臂15在位于和定位槽11的排列方向几乎平行的方向时，锁定杆12完全缩回，两个定位槽均处于打开状态；而摆动臂15位于和定位槽11排列方向接近垂直的方向时，锁定杆12伸出至最大长度，使两个定位槽均为锁定状态；而当摆动臂15和定位槽11的排列方向之间近似成45°夹角，也就是摆动臂15位于中间摆动位置时，则第一定位槽111尚处于锁定关闭状态，而第二定位槽112的槽口被打开。这样通过摆动臂15摆动至不同角度，即可控制不同定位槽的依次打开和关闭。
由于摆动臂15绕摆动中心进行旋转摆动运动，而锁定杆12的是沿一条直线运动轨迹进行往复移动，两者运动轨迹并不一致，所以在摆动臂15和锁定杆12之间还可以设置用以传递动力的连杆16，摆动臂15的末端与连杆16的第一端铰接，连杆16的第二端与锁定杆12连接，这样摆动臂15在驱动电机14的驱使下绕摆动中心摆动时，连杆16就可以带动锁定杆12产生滑动。当然，在其他实施例中，所述确定电机14并不限于驱动上述连杆机构，所述驱动电机14还可以驱动齿轮和齿条组合或驱动气缸或液压缸等结构，以将转动运动转化为直线运动，从而驱动本实施方式中的锁定杆12实现直线的平移滑动。
可选的，一般为了便于摆放，卡勾单元1通常呈近似竖直的姿态固定于无人飞行器上，此时定位槽11的排列方向也近似为竖直方向。而在卡 勾单元1打开定位槽11的槽口11a，以进行绳索组件2的投放时，为了便于投放，避免绳索组件2因摩擦力等因素卡在定位槽11内，定位槽11的至少一侧槽壁应为斜面。这样当定位槽11的槽口11a打开后，斜面槽壁无法支撑固定绳索组件2，会让绳索组件2在重力作用下沿斜面下滑，并最终同卡勾单元1脱离，这样有效避免了卡勾单元1因绳索组件2卡住而造成的投放失败现象。
相应的，由于待投放救生物品200可能具有不同的结构及形状，因而为了适应不同形状的救生物品，绳索组件2包括用于捆绑在待投放救生物品上的绳索21。柔性的绳索可以适应于不同形状的表面，并方便地通过捆绑的方式对待投放救生物品200进行固定，这样可以适用于不同形状、不同种类的待投放救生物品，使得投放的自由度更高。
可选的，绳索组件2还包括有固定环22，固定环22与绳索21的末端固定连接，固定环22可穿设在锁合部内或者从锁合部中脱离，绳索21通过固定环22锁定于卡勾单元1中或者从卡勾单元1脱离。由于固定环22一般由不锈钢等硬质材料制成，且具有固定的形状，所以便于拿取使用。绳索组件2上设置了便于取用的固定环22后，能够实现绳索组件2和卡勾单元1之间的快速连接与拆卸，提高待投放物品的装载效率。
作为优选的实施方式，绳索21通常为弹性绳索。具有弹性的绳索21能够凭借自身弹力紧紧的捆绑在待投放的救生物品上，避免待投放救生物品因捆绑不牢而产生的位移和松动现象。此外，当定位槽11的槽口11a打开后，弹性绳索可借助自身弹力而较为容易地从定位槽11中脱离，进一步增强了投放的可靠性。通常的，绳索21可以采用橡皮筋等材料制成。
具体的，待投放救生物品200通常可以为救生圈，或者其它能够进行救援的物品。以下以救生物品投放装置100实现救生圈的投放，以救援落水人员为例进行说明。通常，绳索组件2可以交叉捆绑在救生圈上，实现救生圈的牢固固定。此外，绳索组件2也可以直接系在救生圈的某一部位上，以和救生圈相连接。
可选的，救生圈的连接方式可随救生圈的位置不同而相应改变。例如，由于无人飞行器需要经过飞行阶段才能实现救生圈的投放，所以救生圈相对于救生物品投放装置的位置应较为固定，且最好处于救生物品投放装置 外侧。以下分别给出几种绳索组件与救生圈之间的不同连接方式。图3a是本发明实施例一中绳索组件与救生圈的第一种连接方式示意图。如图3a所示，绳索组件包括两条绳索21a和21b，两条绳索21a和21b的其中一者从救生圈201的顶部延伸至救生圈201的中部，其中另一者从救生圈201的底部延伸至救生圈201的中部，救生物品投放装置100设置于救生圈100的中部，两条绳索21a和21b在救生圈100的中部互相搭接以穿设于救生物品投放装置100的其中一个锁合部，例如是定位槽11中，并与无人飞行器的机架或机身等结构共同固定救生圈201。此时，救生圈201的一侧上下均得到绳索的固定，而另一侧得到无人飞行器的自身结构的支撑，定位较为牢固，且位置较为固定，不会出现较大的移动，有利于无人飞行器的安全飞行。
图3b是本发明实施例一中绳索组件与救生圈的第二种连接方式示意图。如图3b所示，此外，绳索组件也可以包括一条绳索21c，绳索21c的一端自救生圈201的顶部和底部的其中一端延伸，绳索21c的另一端穿设于位于救生圈201的顶部和的其中另一端的救生物品投放装置100的其中一个锁合部，例如是定位槽11中，以将救生圈201固定。此时，绳索21c的两端分别得到救生物品投放装置100和无人飞行器自身的结构，例如脚架或者机臂的固定，且绳索21c会与无人飞行器的脚架或机臂共同将救生圈201牢固固定在救生物品投放装置100的上方或者下方。该种连接方式，可以仅用一条绳索实现救生圈的固定和投放，连接较为简单，经济性较好。当然，救生圈与绳索组件之间的连接方式并不限于上述两种，也可以为其它便于实现连接固定的方式，此处不再赘述。
图4是本发明实施例一中救生物品投放装置的另一种结构示意图。如图1至图4所示，在上述实施例的基础上，作为优选的实施方式，因为救生物品投放装置100的卡勾单元上锁合部的数量为至少两个，相应的，每个救生物品投放装置100上通常连接有两个救生圈201。这样救生物品投放装置可以实现单个救生圈投放、两个救生圈在不同时间或地点投放、以及两个救生圈同时投放等操作，实现救援的灵活度较高，且两个救生圈的载荷较小，能够保证无人飞行器的正常飞行。
本实施例中，救生物品投放装置具体包括卡勾单元和至少两个用于与 不同的待投放救生物品连接的绳索组件；卡勾单元具有至少两个锁合部，至少两个锁合部均可开闭；锁合部闭合时，每个绳索组件均能够被对应的锁合部锁定，用于固定对应的待投放救生物品；锁合部打开时，绳索组件能够依次与锁合部解除锁定，用于依次投放待投放救生物品。这样可以通过控制打开救生物品投放装置上的不同的锁合部，以实现单件或者多件救生物品的投放，投放自由度较高。
图5是本发明实施例二提供的一种无人飞行器的结构正视示意图。图6是本发明实施例二提供的一种无人飞行器的侧视示意图。如图5和图6所示，本实施例提供的无人飞行器，具体包括机架301和如上述实施例二所述的救生物品投放装置300，救生物品投放装置300中的卡勾单元1与机架301固定连接，绳索组件的其中一端固定于机架301上，另一端锁定于卡勾单元1中，以将救生物品固定于机架301上。
通常，无人飞行器的机架301底端可用于起降，机架301的中部或者下部设置有救生物品投放装置300，且救生物品投放装置300下方没有遮挡物，以确保救生物品能够正常投放。
可选的，救生物品投放装置300可设置在机架301侧面，且救生物品投放装置300中的锁合部沿竖直方向排列。此时，救生物品投放装置300位于机架301外侧，投放时不会受到无人飞行器自身结构的干扰。而定位槽沿竖直方向排列，投放时，绳索组件以及救生圈等救生物品能够依次通过重力自由下落，做到有序投放。
可选的，为了增加救生物品的投放量，机架301的左右两侧各固定连接有一个救生物品投放装置300。两个救生物品投放装置相对于无人飞行器的中轴线对称设置，可以有效保证飞行时的平衡。以投放救生圈为例，每个救生物品投放装置300中可挂载两个及两个以上救生圈201，整个无人飞行器一共可挂载四个或者四个以上救生圈201，能够满足较多人员落水的救援需求。
优选的，为了做到救生物品的准确投放，无人飞行器上还可以包括有摄像机302，摄像机302设置在机架301上，且摄像机302可以实现多角度拍摄，让无人飞行器的操作人员能够第一时间获取现场救援图像，从而实现可视化的实时救援。
本实施例中，无人飞行器具体包括机架和救生物品投放装置，救生物品投放装置中的投放单元与机架固定连接，其中，救生物品投放装置具体包括卡勾单元和至少两个用于与不同的待投放救生物品连接的绳索组件；卡勾单元具有至少两个锁合部，至少两个锁合部均可开闭；锁合部闭合时，每个绳索组件均能够被对应的锁合部锁定，用于固定对应的待投放救生物品；锁合部打开时，绳索组件能够依次与锁合部解除锁定，用于依次投放待投放救生物品。这样可以通过打开救生物品投放装置上的不同的定位槽，以实现无人飞行器的单件或者多件救生物品的投放，投放自由度较高。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (35)

  1. 一种救生物品投放装置，其特征在于，包括：卡勾单元和至少两个用于与不同的待投放救生物品连接的绳索组件；所述卡勾单元具有至少两个锁合部，至少两个所述锁合部均可开闭；所述锁合部闭合时，每个所述绳索组件均能够被对应的所述锁合部锁定，用于固定对应的所述待投放救生物品；至少两个所述锁合部依次打开时，所述绳索组件能够依次与所述锁合部解除锁定，用于依次投放所述待投放救生物品。
  2. 根据权利要求1所述的救生物品投放装置，其特征在于，每个所述锁合部均包括一定位槽，所有所述定位槽沿同一方向间隔排列，当所述定位槽的槽口依次打开时，分别锁定于不同定位槽中的至少两个所述绳索组件能够依次从所述定位槽中脱离。
  3. 根据权利要求2所述的救生物品投放装置，其特征在于，所述卡勾单元还包括活动件，所述活动件可移动地设置在所述定位槽的槽口处，所述活动件相对于所述定位槽移动时，可打开一个或多个所述定位槽的槽口。
  4. 根据权利要求3所述的救生物品投放装置，其特征在于，所述活动件为锁定杆，所述锁定杆可滑动地设置在所述定位槽的槽口处，且所述锁定杆的滑动方向与所述定位槽的排列方向相同；
    所述锁定杆沿所述定位槽的排列方向滑动时，所述锁定杆依次穿过至少两个所述定位槽的槽口，以打开一个或多个所述定位槽。
  5. 根据权利要求4所述的救生物品投放装置，其特征在于，所述定位槽的靠近所述槽口的槽壁上均开设有通孔，且所有所述定位槽上的通孔均相对设置，所述锁定杆穿设在所述通孔中。
  6. 根据权利要求4所述的救生物品投放装置，其特征在于，所述卡勾单元还包括：驱动电机、摆动臂和连杆，所述驱动电机的输出端和所述摆动臂的摆动中心连接，所述摆动臂的末端与所述连杆的第一端铰接，所述连杆的第二端与所述锁定杆连接，所述摆动臂在所述驱动电机的驱使下绕所述摆动中心摆动时，所述连杆带动所述锁定杆产生滑动。
  7. 根据权利要求6所述的救生物品投放装置，其特征在于，所述驱动电机为舵机。
  8. 根据权利要求2-7任一项所述的救生物品投放装置，其特征在于，所述定位槽的至少一侧槽壁为斜面。
  9. 根据权利要求1-7任一项所述的救生物品投放装置，其特征在于，所述绳索组件包括用于捆绑在所述待投放救生物品上的绳索。
  10. 根据权利要求9所述的救生物品投放装置，其特征在于，所述绳索组件还包括：固定环，所述固定环与所述绳索的末端固定连接，所述固定环可穿设在所述锁合部内或者从所述锁合部中脱离，所述绳索通过所述固定环锁定于所述卡勾单元中或者从所述卡勾单元脱离。
  11. 根据权利要求10所述的救生物品投放装置，其特征在于，所述绳索为弹性绳索。
  12. 根据权利要求1-7任一项所述的救生物品投放装置，其特征在于，所述救生物品为救生圈。
  13. 根据权利要求12所述的救生物品投放装置，其特征在于，所述绳索组件交叉捆绑在所述救生圈上。
  14. 根据权利要求12所述的救生物品投放装置，其特征在于，所述绳索组件包括两条绳索，两条所述绳索的其中一者从所述救生圈的顶部延伸至所述救生圈的中部，其中另一者从所述救生圈的底部延伸至所述救生圈的中部，所述救生物品投放装置设置于所述救生圈的中部，两条所述绳索在所述救生圈的中部互相搭接以穿设于所述救生物品投放装置的其中一个所述锁合部中，并将所述救生圈固定。
  15. 根据权利要求12所述的救生物品投放装置，其特征在于，所述绳索组件包括一条绳索，所述绳索的一端自所述救生圈的顶部和底部的其中一端延伸，所述绳索的另一端穿设于位于所述救生圈的所述顶部和底部的其中另一端的救生物品投放装置的其中一个所述锁合部中，以将所述救生圈固定。
  16. 根据权利要求12所述的救生物品投放装置，其特征在于，每个所述救生物品投放装置上连接有两个救生圈。
  17. 一种无人飞行器，其特征在于，包括机架和救生物品投放装置，所述救生物品投放装置包括：卡勾单元和至少两个用于与不同的待投放救生物品连接的绳索组件；所述卡勾单元具有至少两个锁合部，至少两个所 述锁合部均可开闭；所述锁合部闭合时，每个所述绳索组件均能够被对应的所述锁合部锁定，用于固定对应的所述待投放救生物品；至少两个所述锁合部依次打开时，所述绳索组件能够依次与所述锁合部解除锁定，用于依次投放所述待投放救生物品；
    所述卡勾单元与所述机架固定连接，所述绳索组件的其中一端固定于所述机架上，另一端锁定于所述卡勾单元中，以将所述救生物品固定于所述机架上。
  18. 根据权利要求17所述的无人飞行器，其特征在于，每个所述锁合部均包括一定位槽，所有所述定位槽沿同一方向间隔排列，当所述定位槽的槽口依次打开时，分别锁定于不同定位槽中的至少两个所述绳索组件能够依次从所述定位槽中脱离。
  19. 根据权利要求18所述的无人飞行器，其特征在于，所述卡勾单元还包括活动件，所述活动件可移动地设置在所述定位槽的槽口处，所述活动件相对于所述定位槽移动时，可打开一个或多个所述定位槽的槽口。
  20. 根据权利要求19所述的无人飞行器，其特征在于，所述活动件为锁定杆，所述锁定杆可滑动地设置在所述定位槽的槽口处，且所述锁定杆的滑动方向与所述定位槽的排列方向相同；
    所述锁定杆沿所述定位槽的排列方向滑动时，所述锁定杆依次穿过至少两个所述定位槽的槽口，以打开一个或多个所述定位槽。
  21. 根据权利要求20所述的无人飞行器，其特征在于，所述定位槽的靠近所述槽口的槽壁上均开设有通孔，且所有所述定位槽上的通孔均相对设置，所述锁定杆穿设在所述通孔中。
  22. 根据权利要求20所述的无人飞行器，其特征在于，所述卡勾单元还包括：驱动电机、摆动臂和连杆，所述驱动电机的输出端和所述摆动臂的摆动中心连接，所述摆动臂的末端与所述连杆的第一端铰接，所述连杆的第二端与所述锁定杆连接，所述摆动臂在所述驱动电机的驱使下绕所述摆动中心摆动时，所述连杆带动所述锁定杆产生滑动。
  23. 根据权利要求22所述的无人飞行器，其特征在于，所述驱动电机为舵机。
  24. 根据权利要求18-23任一项所述的无人飞行器，其特征在于，所 述定位槽的至少一侧槽壁为斜面。
  25. 根据权利要求17-23任一项所述的无人飞行器，其特征在于，所述绳索组件包括用于捆绑在所述待投放救生物品上的绳索。
  26. 根据权利要求25所述的无人飞行器，其特征在于，所述绳索组件还包括：固定环，所述固定环与所述绳索的末端固定连接，所述固定环可穿设在所述锁合部内或者从所述锁合部中脱离，所述绳索通过所述固定环锁定于所述卡勾单元中或者从所述卡勾单元脱离。
  27. 根据权利要求26所述的无人飞行器，其特征在于，所述绳索为弹性绳索。
  28. 根据权利要求17-23任一项所述的无人飞行器，其特征在于，所述救生物品为救生圈。
  29. 根据权利要求28所述的无人飞行器，其特征在于，所述绳索组件交叉捆绑在所述救生圈上。
  30. 根据权利要求28所述的无人飞行器，其特征在于，所述绳索组件包括两条绳索，两条所述绳索的其中一者从所述救生圈的顶部延伸至所述救生圈的中部，其中另一者从所述救生圈的底部延伸至所述救生圈的中部，所述救生物品投放装置设置于所述救生圈的中部，两条所述绳索在所述救生圈的中部互相搭接以穿设于所述救生物品投放装置的其中一个所述锁合部中，并将所述救生圈固定。
  31. 根据权利要求28所述的无人飞行器，其特征在于，所述绳索组件包括一条绳索，所述绳索的一端自所述救生圈的顶部和底部的其中一端延伸，所述绳索的另一端穿设于位于所述救生圈的所述顶部和底部的其中另一端的救生物品投放装置的其中一个所述锁合部中，以将所述救生圈固定。
  32. 根据权利要求28所述的无人飞行器，其特征在于，每个所述救生物品投放装置上连接有两个救生圈。
  33. 根据权利要求17-23所述的无人飞行器，其特征在于，所述救生物品投放装置设置在所述机架侧面，且所述救生物品投放装置中的锁合部沿竖直方向排列。
  34. 根据权利要求33所述的无人飞行器，其特征在于，所述机架的 左右两侧各固定连接有一个所述救生物品投放装置。
  35. 根据权利要求17-23任一项所述的无人飞行器，其特征在于，还包括：摄像机，所述摄像机设置在所述机架上。
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CN205589484U (zh) * 2016-04-19 2016-09-21 清远市巨劲科技有限公司 一种无人机的携物装置

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CN110001889A (zh) * 2019-04-26 2019-07-12 大庆九州维安科技有限公司 一种基于无人机的水上多人群体救援系统
CN111301685A (zh) * 2019-12-17 2020-06-19 广州极飞科技有限公司 装卸货装置和无人设备
CN112758328A (zh) * 2021-01-21 2021-05-07 张广林 一种具有救援功能的无人机
CN114291233A (zh) * 2021-12-30 2022-04-08 珠海云洲智能科技股份有限公司 救生器投放装置及航行设备
CN114291233B (zh) * 2021-12-30 2024-06-04 珠海云洲智能科技股份有限公司 救生器投放装置及航行设备
CN114812311A (zh) * 2022-04-20 2022-07-29 中南大学 无人机定向爆破系统及爆破方法
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CN115593631A (zh) * 2022-12-13 2023-01-13 四川腾盾科技有限公司（Cn） 一种双余度无人机吊挂投放装置及其工作方法
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CN116968920A (zh) * 2023-08-29 2023-10-31 中国兵器装备集团自动化研究所有限公司 一种无人机载荷弃投装置及微型无人机
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