An unmanned aerial vehicle with obstacle avoidance rescue and a method of use

Abstract

The application provides a kind of unmanned aerial vehicle with obstacle avoidance rescue and use method, it is related to unmanned aerial vehicle technical field, including unmanned aerial vehicle mounting piece, four driving auxiliary devices are installed on the unmanned aerial vehicle mounting piece;Four driving auxiliary devices are respectively fixedly installed with plug-in auxiliary part;Four driving auxiliary devices are respectively fixedly installed with pressure sensing piece;Four pressure sensing pieces are respectively electrically connected on unmanned aerial vehicle mounting piece;The plug-in docking piece is fixedly installed on the bottom of unmanned aerial vehicle mounting piece;It can realize the automatic folding of assistance, influence unmanned aerial vehicle flight, it can also realize the obstacle avoidance of assisting falling, effectively prevent the damage of obstacle to unmanned aerial vehicle in the process of unmanned aerial vehicle falling and other problems, solve the problem that the current obstacle avoidance rescue unmanned aerial vehicle avoids obstacle, and easily causes crash because of the imbalance of cargo gravity center in the process of obstacle avoidance, scene ground adaptability is poor.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a UAV with obstacle avoidance and rescue capabilities and its usage method. Background Technology

[0002] Unmanned aerial vehicles (UAVs), or drones for short, are unmanned aircraft controlled by radio remote control equipment and onboard program control devices, or operated autonomously by an onboard computer, either completely or intermittently. In practical applications, UAVs are widely used in crisis environments such as earthquake relief and disaster relief. In actual UAV rescue operations, the scenarios involved are extremely complex. UAVs need to land smoothly. Current obstacle avoidance rescue UAVs have blind spots on their bottoms, making cargo easy to bump into. At the same time, during obstacle avoidance, the UAV is prone to crashing due to the imbalance of the cargo's center of gravity. Furthermore, it is not easy to achieve automated landing and leveling structures, resulting in poor adaptability to different terrains. Summary of the Invention

[0003] In view of this, the present invention provides a drone with obstacle avoidance and rescue capabilities and a method of use. The drone has a pressure sensing component that can assist in ground sensing, effectively ensuring the structural adaptability to different scenarios. It can automatically avoid obstacles and land in different landing scenarios, avoiding the problem of tilting and collision caused by obstacles such as sand and gravel on the ground, thus making it safer.

[0004] This invention provides a drone with obstacle avoidance and rescue capabilities and its usage method. Specifically, it includes a drone mounting component, on which four drive auxiliary devices are mounted; each of the four drive auxiliary devices is fixedly mounted with a plug-in auxiliary component; each of the four drive auxiliary devices is fixedly mounted with a pressure sensor; the four pressure sensors are electrically connected to the drone mounting component; a plug-in docking component is fixedly mounted at the bottom of the drone mounting component; a center-of-gravity traction control component is mounted on the plug-in docking component and fixedly mounted at the bottom of the drone mounting component; a magnetic docking component is plugged into the plug-in docking component; a load-bearing auxiliary component is fixedly mounted on the magnetic docking component; and an obstacle avoidance protection component is fixedly mounted at the bottom of the drone mounting component. The drone mounting component includes: a drone body, a controller body, a mounting main beam, plug-in limiting plates, and positioning auxiliary holes. The controller body is embedded in the drone body; the mounting main beam is fixedly mounted at the bottom of the drone body; four plug-in limiting plates are fixedly welded to the mounting main beam; and four positioning auxiliary holes are respectively formed on the four plug-in limiting plates.

[0005] Furthermore, the drive auxiliary device includes: a drive auxiliary installation motor, a rotating support leg, and a lifting electric push rod. The drive auxiliary installation motor is fixedly installed on the main installation beam. The rotating support leg is fixedly welded to the output shaft of the drive auxiliary installation motor. The lifting electric push rod is fixedly fitted inside the rotating support leg. The rotating support leg is attached to the insertion limiting plate.

[0006] Furthermore, the center of gravity traction control component includes: an installation auxiliary shell, a traction electric push rod, a traction control rope, and a connecting support rod. Four installation auxiliary shells are provided, and each of the four installation auxiliary shells is fixedly installed on both sides of the main beam. A traction electric push rod is installed on each of the four installation auxiliary shells. A traction control rope is provided on the output shaft of each of the four traction electric push rods. The other end of each of the four traction control ropes is connected to a connecting support rod, and the other end of each of the four connecting support rods is fixedly installed on a plug-in connecting column.

[0007] Furthermore, the magnetic docking component includes: a magnetic docking cylinder, magnetic limiting posts, magnetic positioning springs, a magnetic positioning disk, and an electromagnet. Two magnetic limiting posts are slidably connected to the magnetic docking cylinder, each with an inclined surface structure. The two magnetic limiting posts are inserted into the insertion slots. Magnetic positioning springs are respectively sleeved on the two magnetic limiting posts. The two magnetic positioning springs are respectively connected between the magnetic docking cylinder and the magnetic limiting posts. A magnetic positioning disk is welded to the bottom of the magnetic docking cylinder. The electromagnet is fixedly installed inside the magnetic docking cylinder.

[0008] Furthermore, the supporting auxiliary component includes: a supporting connecting ring and a storage bag, wherein the storage bag is fixedly installed on the supporting connecting ring; the supporting connecting ring is threadedly connected to the magnetic positioning plate.

[0009] Furthermore, the plug-in connector includes: a plug-in rope, a plug-in connecting post, and a plug-in connecting groove. The plug-in rope is fixedly installed with the plug-in connecting post. The plug-in rope is fixedly installed at the bottom of the main beam. The plug-in connecting post has a plug-in connecting groove. The bottom of the plug-in connecting post has a conical structure.

[0010] Furthermore, the insertion auxiliary component includes: an insertion electric push rod and an insertion auxiliary shaft, wherein the insertion electric push rod is fixedly mounted on the rotating support leg; the insertion auxiliary shaft is fixedly mounted on the output shaft of the insertion electric push rod; the end of the insertion auxiliary shaft has a tapered structure; and the insertion auxiliary shaft is inserted into the positioning auxiliary hole.

[0011] Furthermore, the pressure sensing component includes: a pressure sensing mounting cylinder, a pressure sensor, and a sliding support shaft. The pressure sensing mounting cylinder is fixedly mounted on the output shaft of the lifting electric push rod. A pressure sensor is fixedly installed inside the pressure sensing mounting cylinder. The pressure sensor is electrically connected to the controller body. The sliding support shaft is slidably connected to the pressure sensing mounting cylinder. The sliding support shaft presses against and adheres to the pressure sensor.

[0012] Furthermore, the obstacle avoidance and protection component includes: a protective mounting rod and a protective auxiliary net, wherein the protective mounting rod is fixedly welded to the bottom of the main beam; and two protective auxiliary nets are fixedly welded to the protective mounting rod.

[0013] Furthermore, a method for using a drone with obstacle avoidance and rescue capabilities: 1) Magnets are used to attract the plug-in connecting column, and during the process, the magnetically attracted limiting column uses an inclined structure to insert into the plug-in connecting slot to achieve stable limiting operation; 2) Before flight, the position of the installation auxiliary shell can be controlled by pulling four traction control ropes through four electric traction push rods, thereby adjusting the center of gravity of the cargo; 3) After the auxiliary installation motor drives the rotating support leg to descend, the lifting electric push rod extends. After the sliding support shaft touches the ground, the lifting electric push rod stops advancing. The same applies to the four plug-in electric push rods. If one of the lifting electric push rods is fully extended and the pressure sensor is still not under pressure, then this location is not suitable for landing.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] By employing a specially designed drive assist device in conjunction with pressure sensors, automatic folding can be assisted to prevent interference with drone flight. It can also assist in obstacle avoidance during landing, effectively preventing damage to the drone from obstacles during descent. Furthermore, it can assist in automatically adapting to uneven ground or slopes, and can assist in ground sensing, effectively ensuring the structure's scene adaptability. It can automatically avoid obstacles and land in different landing scenarios, avoiding the problem of tilting and collisions caused by obstacles such as sand and gravel on the ground.

[0016] In addition, the center of gravity traction control component can assist in adjusting the center of gravity, resulting in better flight control quality for drones carrying cargo. It effectively improves the rationality of flight attitude, allows for free adjustment in multiple directions, has a more reasonable structure, ensures the amount of cargo loaded, avoids unbalanced flight, and makes the drone's flight attitude more controllable and safer when avoiding obstacles.

[0017] In addition, the obstacle avoidance and protection components can assist in obstacle avoidance and protection, making it safer. At the same time, the magnetic docking components can assist in magnetic docking, making docking more flexible and faster, facilitating convenient operation, simplifying the structure, and enhancing practicality. The use of magnetic docking avoids the risk of being cut by the drone during manual operation. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments will be briefly described below.

[0019] The accompanying drawings described below are only related to some embodiments of the invention and are not intended to limit the invention.

[0020] In the attached diagram:

[0021] Figure 1 This is a schematic diagram of the overall structure of the UAV of the present invention.

[0022] Figure 2 This is a schematic diagram of the front bottom structure of the drone of the present invention.

[0023] Figure 3 This is a schematic diagram of the bottom rear structure of the drone of the present invention.

[0024] Figure 4 This is a schematic diagram of the overall structure of the center of gravity traction control component of the present invention.

[0025] Figure 5 This is a schematic diagram of the drone mounting component structure of the present invention.

[0026] Figure 6 This is a schematic diagram of the drive auxiliary device structure of the present invention.

[0027] Figure 7 This is a schematic diagram of the pressure sensing element structure of the present invention.

[0028] Figure 8 This is a schematic diagram of the center of gravity traction control component of the present invention.

[0029] Figure 9 This is a schematic diagram of the magnetic attraction connector structure of the present invention.

[0030] List of reference numerals in the attached diagram:

[0031] 1. UAV mounting components; 101. UAV main body; 1011. Controller main body; 102. Mounting main beam; 103. Insertion limiting plate; 1031. Positioning auxiliary hole; 2. Drive auxiliary device; 201. Drive auxiliary mounting motor; 202. Rotating support leg; 203. Lifting electric push rod; 3. Insertion auxiliary component; 301. Insertion electric push rod; 302. Insertion auxiliary shaft; 4. Pressure sensing component; 401. Pressure sensing mounting cylinder; 402. Pressure sensor; 403. Sliding support shaft; 5. Insertion docking component; 501. Insertion 502. Connecting rope; 503. Plug-in connecting post; 6. Center of gravity traction control component; 601. Installation auxiliary shell; 602. Traction electric push rod; 603. Traction control rope; 604. Connecting support rod; 7. Magnetic docking component; 701. Magnetic docking cylinder; 702. Magnetic limiting post; 703. Magnetic positioning tension spring; 704. Magnetic positioning disc; 705. Electromagnet; 8. Bearing auxiliary component; 801. Bearing connecting ring; 802. Storage bag; 9. Obstacle avoidance protection component; 901. Protective mounting rod; 902. Protective auxiliary net. Detailed Implementation

[0032] To make the objectives, solutions, and advantages of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Unless otherwise stated, the terms used herein have their ordinary meanings in the art. The same reference numerals in the drawings represent the same parts.

[0033] Example 1: Please refer to Figures 1 to 9 As shown:

[0034] This invention provides a drone with obstacle avoidance and rescue capabilities and a method of use, comprising a drone mounting component 1, on which four drive auxiliary devices 2 are mounted; each of the four drive auxiliary devices 2 is fixedly mounted with a plug-in auxiliary component 3; each of the four drive auxiliary devices 2 is fixedly mounted with a pressure sensor 4; the four pressure sensors 4 are electrically connected to the drone mounting component 1; a plug-in docking component 5 is fixedly mounted at the bottom of the drone mounting component 1; a center of gravity traction control component 6 is mounted on the plug-in docking component 5, and the center of gravity traction control component 6 is fixedly mounted at the bottom of the drone mounting component 1; and a plug-in docking component 5 is plugged into... Magnetic docking component 7; a load-bearing auxiliary component 8 is fixedly installed on the magnetic docking component 7; an obstacle avoidance protection component 9 is fixedly installed on the bottom of the drone mounting component 1; the drone mounting component 1 includes: drone body 101, controller body 1011, mounting main beam 102, insertion limiting plate 103 and positioning auxiliary hole 1031, the controller body 1011 is embedded in the drone body 101; the mounting main beam 102 is fixedly installed on the bottom of the drone body 101; four insertion limiting plates 103 are fixedly welded on the mounting main beam 102; four positioning auxiliary holes 1031 are respectively opened on the four insertion limiting plates 103.

[0035] The drive auxiliary device 2 includes: a drive auxiliary installation motor 201, a rotating support leg 202, and a lifting electric push rod 203. The drive auxiliary installation motor 201 is fixedly installed on the main installation beam 102. The rotating support leg 202 is fixedly welded to the output shaft of the drive auxiliary installation motor 201. The lifting electric push rod 203 is fixedly fitted inside the rotating support leg 202. The rotating support leg 202 is attached to the insertion limiting plate 103. The insertion auxiliary component 3 includes: an insertion electric push rod 301 and an insertion auxiliary shaft 302. The insertion electric push rod 301 is fixedly installed on the rotating support leg 202. The insertion auxiliary shaft 302 is fixedly installed on the output shaft of the insertion electric push rod 301. The auxiliary shaft 302 has a tapered end; the auxiliary shaft 302 is inserted into the positioning auxiliary hole 1031; the pressure sensing element 4 includes: a pressure sensing mounting cylinder 401, a pressure sensor 402, and a sliding support shaft 403. The pressure sensing mounting cylinder 401 is fixedly mounted on the output shaft of the lifting electric push rod 203; the pressure sensor 402 is fixedly fitted inside the pressure sensing mounting cylinder 401; the pressure sensor 402 is electrically connected to the controller body 1011; the sliding support shaft 403 is slidably connected to the pressure sensing mounting cylinder 401; the sliding support shaft 403 presses against the pressure sensor 402. Through the use of the provided drive auxiliary device 2, in conjunction with the pressure sensing element 4... It can achieve assisted automatic folding to prevent interference with drone flight, and also assist in obstacle avoidance during landing, effectively preventing damage to the drone from obstacles during descent. It can also assist in automatic adaptation to uneven ground or slopes, and assist in ground sensing, effectively ensuring the structure's scene adaptability. It can automatically avoid obstacles and land in different scenarios, avoiding the problem of tilting and collisions caused by obstacles such as sand and gravel, making landing safer. Furthermore, by using a drive assistance device 2, it can assist in the support and positioning of the rotating support leg 202, simplifying the structure and ensuring better stability. The structure is simple and reasonable. By using a plug-in electric push rod 301 to drive the plug-in auxiliary shaft 302 to be pulled out from the positioning auxiliary hole 1031, after the drive auxiliary mounting motor 201 drives the rotating support leg 202 to fall, the lifting electric push rod 203 extends. After the sliding support shaft 403 touches the ground, the lifting electric push rod 203 stops advancing. The same principle applies to the four plug-in electric push rods 301 to achieve horizontal support. It can adapt to problems such as rocks on the ground. The structure is simpler and more practical. If one of the lifting electric push rods 203 is fully extended and the pressure sensor 402 is still not under pressure, then it is not suitable to land there. The landing position can be changed, making it more reasonable and practical.

[0036] The plug-in connection component 5 includes: a plug-in connection rope 501, a plug-in connection post 502, and a plug-in connection groove 503. The plug-in connection post 502 is fixedly installed on the plug-in connection rope 501. The plug-in connection rope 501 is fixedly installed at the bottom of the main beam 102. The plug-in connection post 502 has a plug-in connection groove 503. The bottom of the plug-in connection post 502 has a conical structure. The center of gravity traction control component 6 includes: an installation auxiliary shell 601, a traction electric push rod 602, a traction control rope 603, and a connecting support rod 604. There are four installation auxiliary shells 601, which are respectively fixedly installed on both sides of the main beam 102. The four installation auxiliary shells 601 are respectively installed with traction electric push rods 602. The four traction electric push rods 603 are respectively installed on the four installation auxiliary shells 601. Each push rod 602 has a traction control rope 603 on its output shaft. The other ends of the four traction control ropes 603 are connected to connecting support rods 604, and the other ends of the four connecting support rods 604 are fixedly installed on the plug-in connecting post 502. Through the set center of gravity traction control component 6, the center of gravity can be adjusted. For drones carrying cargo, the flight control quality is better, and the flight attitude is effectively improved. When the drone avoids obstacles, its flight attitude is more controllable and safer. The position of the auxiliary shell 601 can be controlled by pulling the four traction control ropes 603 through the four traction electric push rods 602. The structure is simpler and effectively ensures the rationality of the drone's flight.

[0037] Example 2: Based on Example 1, the magnetic docking component 7 includes: a magnetic docking cylinder 701, magnetic limiting posts 702, magnetic positioning springs 703, magnetic positioning discs 704, and an electromagnet 705. Two magnetic limiting posts 702 are slidably connected to the magnetic docking cylinder 701, each with an inclined structure. The two magnetic limiting posts 702 are inserted into the insertion connecting grooves 503. Magnetic positioning springs 703 are respectively sleeved on the two magnetic limiting posts 702. The two magnetic positioning springs 703 are respectively connected between the magnetic docking cylinder 701 and the magnetic limiting posts 702. A magnetic positioning disc 704 is welded to the bottom of the magnetic docking cylinder 701. The electromagnet 705 is fixedly installed inside the magnetic docking cylinder 701. The supporting auxiliary component 8 includes: a supporting connecting ring 801 and a storage bag 802. A storage bag 802 is fixedly installed on the bearing connecting ring 801; the bearing connecting ring 801 is threadedly connected to the magnetic positioning plate 704; the obstacle avoidance protection component 9 includes: a protective mounting rod 901 and a protective auxiliary net 902. The protective mounting rod 901 is fixedly welded to the bottom of the mounting main beam 102; two protective auxiliary nets 902 are fixedly welded to the protective mounting rod 901. By using the obstacle avoidance protection component 9, obstacle avoidance protection can be assisted, making it safer. At the same time, the magnetic docking component 7 can assist in magnetic docking, making docking more flexible and faster, facilitating convenient operation, simplifying the structure, increasing practicality, and enhancing safety. Especially for larger drones, the structure is simpler and more practical. Through the obstacle avoidance protection component 9, the protective auxiliary net 902 can be used to assist in protection work.

[0038] One method of using a drone with obstacle avoidance and rescue capabilities is as follows: 1. Magnet 705 is used to attract the plug-in connecting post 502. During the process, the magnetic limiting post 702 uses an inclined structure to insert into the plug-in connecting slot 503 to achieve stable limiting operation; 2. Before flight, the four traction control ropes 603 are pulled by the four traction electric push rods 602 to control the position of the installation auxiliary shell 601 and adjust the center of gravity of the cargo; 3. After the drive auxiliary installation motor 201 drives the rotating support leg 202 to descend, the lifting electric push rod 203 extends. After the sliding support shaft 403 touches the ground, the lifting electric push rod 203 stops advancing. The same applies to the four plug-in electric push rods 301. If one of the lifting electric push rods 203 is fully extended and the pressure sensor 402 is still not pressurized, then it is not suitable to land there.

[0039] The specific usage and function of this embodiment are as follows: First, after the material is loaded into the storage bag 802, the bearing connecting ring 801 is tightened onto the magnetic positioning plate 704. When the plug-in connecting post 502 is located in the magnetic docking cylinder 701, the electromagnet 705 is activated to attract the plug-in connecting post 502. During the process, the magnetic limiting post 702 uses its inclined structure to insert into the plug-in connecting slot 503 to achieve stable limiting operation. The obstacle avoidance protection component 9 can achieve protection through the auxiliary protective net 902. Before flight, the position of the installation auxiliary shell 601 can be controlled by pulling the four traction control ropes 603 respectively through the four traction electric push rods 602, thereby adjusting the center of gravity of the cargo. When the drone completes its flight and needs to land, the plug-in electric push rod 301 drives the plug-in auxiliary shaft 302 to be pulled out from the positioning auxiliary hole 1031. After the drive auxiliary mounting motor 201 drives the rotating support leg 202 to descend, the lifting electric push rod 203 extends. After the sliding support shaft 403 touches the ground, the lifting electric push rod 203 stops advancing. The same applies to the four plug-in electric push rods 301 to achieve horizontal support. It can adapt to problems such as rocks on the ground. The structure is simpler and more practical. If one of the lifting electric push rods 203 is fully extended and the pressure sensor 402 is still not under pressure, then this place is not suitable for landing and the landing position can be changed.

[0040] The above are merely exemplary embodiments of the present invention and are not intended to limit the scope of protection of the present invention, which is determined by the appended claims.

Claims

1. A drone with obstacle avoidance and rescue capabilities, comprising a drone mounting component (1) on which four drive assistance devices (2) are mounted; characterized in that, Each of the four drive auxiliary devices (2) is fixedly equipped with a plug-in auxiliary component (3); each of the four drive auxiliary devices (2) is fixedly equipped with a pressure sensing component (4); each of the four pressure sensing components (4) is electrically connected to the UAV mounting component (1); a plug-in docking component (5) is fixedly installed at the bottom of the UAV mounting component (1); a center of gravity traction control component (6) is installed on the plug-in docking component (5), and the center of gravity traction control component (6) is fixedly installed at the bottom of the UAV mounting component (1); a magnetic docking component (7) is plugged into the plug-in docking component (5); a load-bearing auxiliary component (8) is fixedly installed on the magnetic docking component (7). The drone mounting component (1) is fixedly mounted with an obstacle avoidance protection component (9) at its bottom. The drone mounting component (1) includes: a drone body (101), a controller body (1011), a mounting main beam (102), a plug-in limiting plate (103), and a positioning auxiliary hole (1031). The controller body (1011) is embedded in the drone body (101). The mounting main beam (102) is fixedly mounted at the bottom of the drone body (101). Four plug-in limiting plates (103) are fixedly welded on the mounting main beam (102). Four positioning auxiliary holes (1031) are respectively opened on the four plug-in limiting plates (103).

2. The drone with obstacle avoidance and rescue capability according to claim 1, characterized in that: The drive auxiliary device (2) includes: a drive auxiliary installation motor (201), a rotating support leg (202), and a lifting electric push rod (203). The drive auxiliary installation motor (201) is fixedly installed on the main installation beam (102). The rotating support leg (202) is fixedly welded to the output shaft of the drive auxiliary installation motor (201). The lifting electric push rod (203) is fixedly installed inside the rotating support leg (202). The rotating support leg (202) is attached to the insertion limit plate (103).

3. The drone with obstacle avoidance and rescue capability according to claim 2, characterized in that: The insertion auxiliary component (3) includes: an insertion electric push rod (301) and an insertion auxiliary shaft (302). The insertion electric push rod (301) is fixedly installed on the rotating support leg (202). The insertion auxiliary shaft (302) is fixedly installed on the output shaft of the insertion electric push rod (301). The end of the insertion auxiliary shaft (302) is tapered. The insertion auxiliary shaft (302) is inserted into the positioning auxiliary hole (1031).

4. The drone with obstacle avoidance and rescue capability according to claim 2, characterized in that: The pressure sensing component (4) includes: a pressure sensing mounting cylinder (401), a pressure sensor (402), and a sliding support shaft (403). The pressure sensing mounting cylinder (401) is fixedly mounted on the output shaft of the lifting electric push rod (203). The pressure sensor (402) is fixedly fitted inside the pressure sensing mounting cylinder (401). The pressure sensor (402) is electrically connected to the controller body (1011). The sliding support shaft (403) is slidably connected to the pressure sensing mounting cylinder (401). The sliding support shaft (403) presses against and adheres to the pressure sensor (402).

5. A drone with obstacle avoidance and rescue capabilities according to claim 1, characterized in that: The plug-in connector (5) includes: a plug-in connector rope (501), a plug-in connector post (502), and a plug-in connector groove (503). The plug-in connector rope (501) is fixedly installed with the plug-in connector post (502). The plug-in connector rope (501) is fixedly installed at the bottom of the main beam (102). The plug-in connector post (502) is provided with a plug-in connector groove (503). The bottom of the plug-in connector post (502) is a conical structure.

6. A drone with obstacle avoidance and rescue capabilities according to claim 5, characterized in that: The center of gravity traction control component (6) includes: an installation auxiliary shell (601), a traction electric push rod (602), a traction control rope (603), and a connecting support rod (604). There are four installation auxiliary shells (601), which are fixedly installed on both sides of the main beam (102). A traction electric push rod (602) is installed on each of the four installation auxiliary shells (601). A traction control rope (603) is installed on the output shaft of each of the four traction electric push rods (602). The other end of each of the four traction control ropes (603) is connected to a connecting support rod (604), and the other end of each of the four connecting support rods (604) is fixedly installed on a plug-in connecting column (502).

7. A drone with obstacle avoidance and rescue capabilities according to claim 5, characterized in that: The magnetic docking component (7) includes: a magnetic docking cylinder (701), magnetic limiting posts (702), magnetic positioning springs (703), magnetic positioning discs (704), and an electromagnet (705). Two magnetic limiting posts (702) are slidably connected to the magnetic docking cylinder (701), and the adjacent sides of the two magnetic limiting posts (702) are inclined structures. The two magnetic limiting posts (702) are inserted into the insertion connection groove (503). Magnetic positioning springs (703) are respectively sleeved on the two magnetic limiting posts (702). The two magnetic positioning springs (703) are respectively connected between the magnetic docking cylinder (701) and the magnetic limiting posts (702). A magnetic positioning disc (704) is welded to the bottom of the magnetic docking cylinder (701). The electromagnet (705) is fixedly installed inside the magnetic docking cylinder (701).

8. A drone with obstacle avoidance and rescue capabilities according to claim 7, characterized in that: The supporting auxiliary component (8) includes: a supporting connecting ring (801) and a storage bag (802), wherein the storage bag (802) is fixedly installed on the supporting connecting ring (801); the supporting connecting ring (801) is threadedly connected to the magnetic positioning plate (704).

9. A drone with obstacle avoidance and rescue capabilities according to claim 1, characterized in that: The obstacle avoidance and protection component (9) includes: a protective mounting rod (901) and a protective auxiliary net (902). The protective mounting rod (901) is fixedly welded to the bottom of the main beam (102). Two protective auxiliary nets (902) are fixedly welded to the protective mounting rod (901).

10. A method of using a drone with obstacle avoidance and rescue capabilities according to claims 1-9, characterized in that: The steps include: 1) When the magnet (705) is electromagnetically attracted, the plug-in connecting post (502) is drawn in. During the process, the magnetically attracted limiting post (702) uses the inclined structure to insert into the plug-in connecting groove (503) to achieve stable limiting operation. 2) Before flight, the position of the auxiliary shell (601) can be controlled by pulling the four traction control ropes (603) through the four traction electric push rods (602) respectively, thereby adjusting the center of gravity of the cargo; 3) After the drive auxiliary installation motor (201) drives the rotating support leg (202) to descend, the lifting electric push rod (203) extends. After the sliding support shaft (403) touches the ground, the lifting electric push rod (203) stops advancing. The same applies to the four plug-in electric push rods (301). If one of the lifting electric push rods (203) is fully extended and the pressure sensor (402) is still not under pressure, then it is not suitable to land here.

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