Unmanned aerial vehicle autonomous rescue system

Abstract

The invention provides an unmanned aerial vehicle autonomous rescue system, which comprises an unmanned aerial vehicle installation carrier module, a detection and identification module, a rescue module, a communication module and a control module, and is characterized in that the detection and identification module, the rescue module and the communication module are arranged on the unmanned aerial vehicle carrier module; according to the unmanned aerial vehicle autonomous rescue system provided by the invention, the arranged rescue cabin body can be used for loading a patient, the vital signs of the patient can be continuously monitored on the vehicle, and the monitoring data is continuously sent to a ground medical rescue mechanism in real time, so that the life of the patient is maintained in the way of being returned to the medical rescue mechanism.

Description

Technical Field

[0001] The present invention relates to the field of aviation rescue equipment, and in particular to an autonomous rescue system applied to an unmanned aerial vehicle. Background Art

[0002] At present, with the rapid development of my country's economy, in order to actively implement the concept of "low-altitude economy", various regions have successively issued policies to support the development of low-altitude economy. Among the many application scenarios of low-altitude economy, aviation emergency rescue or medical rescue is also one of the important development projects. Therefore, the timeliness of emergency rescue is also getting higher and higher. Due to the increasing congestion of ground traffic, when facing some sudden diseases or major disasters, we must also face other emergencies such as poor communication and traffic. However, time is life, and emergency rescue and life safety need to race against time. Therefore, combining drones with medical rescue, opening up air flight rescue channels, and developing a flight rescue system based on drone platforms to improve the application and development of unmanned systems can also improve the efficiency of medical rescue in my country. However, the existing rescue drones are mainly multi-rotor drones, and they are mainly used to carry medical equipment. and medicines, for example, the Chinese patent with patent number: CN117250991A discloses a search and rescue method, as well as a method for calculating the search and rescue value and how to generate a search and rescue route, discloses the search and rescue for the front end of the rescue, but does not disclose the loading, rescue and life support methods after the search and rescue reaches the target; another Chinese patent with patent number: CN107239901A mainly discloses loading of first aid kits and communication equipment, and the interaction with the patient is completed through a rescue terminal with video and voice dialogue as the main method, and cannot realize loading of patients, as well as measurement, transmission and monitoring of patients' vital signs data; therefore, there is a need for a drone, the body of which can carry patients, the patient's vital signs can be continuously monitored on board, and the monitoring data can be continuously and real-timely sent to ground medical rescue institutions, so as to enable a drone autonomous rescue system to carry out life support for patients on the way back to the medical rescue institutions. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a drone autonomous rescue system that can continuously monitor the vital signs of a patient and continuously and in real time send the monitoring data to a ground medical rescue agency for autonomous rescue.

[0004] In order to achieve the purpose of the present invention, the present invention provides an autonomous rescue system of a drone, comprising a drone installation carrier module, a detection and identification module, a rescue module, a communication module and a control module, wherein the detection and identification module, the rescue module and the communication module are arranged on the drone carrier module, and the detection and identification module, the rescue module and the communication module are all electrically connected to the control module;

[0005] The detection and identification module is used to detect and image obstacles in the flight direction in the flight environment such as air, ground, and water in real time, and timely perform real-time on-board fusion processing on the acquired information;

[0006] The rescue module includes a heart rate detection unit, which is used to monitor the heart rate information of the rescued person and send the data to the communication module after real-time measurement;

[0007] The rescue module also includes a rescue cabin body, wherein a loading space is formed in the rescue cabin body, and the loading space is used to load the wounded or patients to be rescued;

[0008] The UAV mounting carrier module is also provided with a flight control unit, which is used to identify and determine whether there are obstacles that affect the flight or people to be rescued in the immediate flight environment, and to plan obstacle avoidance flight routes and rescue routes in real time;

[0009] The communication module is used to transmit the data, images, videos and other information acquired by the flight control unit, detection and identification module, and rescue module to a designated location on the ground in real time.

[0010] Preferably, the detection and identification module includes an electro-optical pod lens, an obstacle avoidance radar unit and an image processing unit. The electro-optical pod lens includes an optical integrated lens, and the optical integrated lens is used to detect and image the air, ground and water surface environments in real time. The obstacle avoidance radar unit is used to detect obstacles in the direction of flight. The image processing unit can perform real-time on-board fusion processing on the information obtained by the electro-optical pod lens and the obstacle avoidance radar.

[0011] Preferably, the optoelectronic pod lens and the obstacle avoidance radar unit are communicatively connected to the image processing unit. The optoelectronic pod lens acquires surrounding video, image or point cloud information at the front end of the UAV. The image processing unit classifies and counts people, vehicles, ships, houses, electric towers, etc. in the acquired information, and calculates the spatial position relationship between each type of classified information and the UAV.

[0012] Preferably, the rescue module also includes a respiratory rescue device and an annulus arrangement unit. An equipment installation position is provided on the loading space within the rescue cabin body. The respiratory rescue device is arranged on the equipment installation position within the rescue cabin body. The annulus arrangement unit is provided with a humidifier and an air-conditioning fan. The annulus arrangement unit is used to adjust the temperature and humidity range within the rescue cabin body.

[0013] Preferably, the heart rate detection unit is disposed in the rescue cabin body, and the heart rate detection unit is communicatively connected with the communication module, and the heart rate detection unit sends data to the communication module after performing real-time detection.

[0014] Preferably, the communication module transmits data with the flight control unit via RS422 transmission, and the flight control unit controls the landing route of the rescue cabin body.

[0015] Preferably, the detection and identification module establishes a communication connection with the rescue module via a CAN line. After the communication module communicates with the rescue module, the information collected by the rescue module is transmitted to the ground rescue agency, and the ground rescue agency transmits the acquired transmission information to doctors, insurance agents, patients' families and other relevant personnel.

[0016] Preferably, the UAV mounting carrier module is also provided with a power system, a flight control system and a fuel supply system, and the communication module includes communication equipment such as satellite communication, microwave data link and LTE communication.

[0017] Preferably, it also includes an unmanned aerial vehicle body, the unmanned aerial vehicle body includes an unmanned aerial vehicle main body, the unmanned aerial vehicle main body is provided with a front cabin and a rear wing cabin, the unmanned aerial vehicle installation carrier module is arranged in the front cabin of the cabin, the detection and identification module is arranged on the rear wing cabin of the cabin, and a quick-release connection mechanism is provided on the bottom surface of the unmanned aerial vehicle main body, and the quick-release connection structure is used to connect to the rescue cabin body.

[0018] Preferably, the quick-release connection structure is provided with an arc-shaped connecting rod mechanism, which includes a main connecting rod member, and the main connecting rod member is used to form a quick-release connection with the bottom surface of the human-machine main body, and the main connecting rod member is provided with a steel connecting ring, and the steel connecting ring is provided with a connecting portion, and both ends of the main connecting rod member are integrally connected with arc-shaped connecting rods, and the arc-shaped rods form auxiliary rods on both sides of the rescue cabin body, and the arc-shaped connecting rod mechanism is provided with more than two.

[0019] The beneficial effects of the present invention are as follows: the present invention provides an autonomous rescue system for unmanned aerial vehicles, which is provided with a detection and identification module, a rescue module and a communication module. The detection and identification module, the rescue module and the communication module are arranged on the carrier module of the unmanned aerial vehicle. The detection and identification module is used to detect and image obstacles in the direction of flight in flight environments such as air, ground and water in real time, and timely perform real-time on-board fusion processing on the acquired information. The communication module is used to transmit the data, images, videos and other information acquired by the flight control unit, the detection and identification module and the rescue module to a designated location on the ground in real time. The autonomous rescue system for unmanned aerial vehicles provided by the present invention has a rescue cabin body that can carry patients, and the vital characteristics of the patients can be continuously monitored on board, and the monitoring data can be continuously and in real time sent to ground medical rescue institutions, so as to carry out life support for the patients on the way back to the medical rescue institutions. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and other purposes, features and advantages of the present invention will become more clear by more specific description of the preferred embodiments of the present invention shown in the accompanying drawings. The same reference numerals indicate the same parts in all the accompanying drawings, and the accompanying drawings are not deliberately scaled to the actual size, and the focus is on illustrating the main purpose of the present invention.

[0021] Figure 1 A schematic plan view of an autonomous rescue system of a drone according to the present invention;

[0022] Figure 2 A schematic diagram of a drone main body in a drone autonomous rescue system of the present invention;

[0023] Figure 3 It is a schematic diagram of a preferred embodiment of the present invention.

[0024] In the figure: 1. UAV main body; 2. Obstacle avoidance radar unit; 3. Optoelectronic pod lens; 4. Respiratory rescue equipment; 6. Rescue cabin body; 7. Communication system antenna; 8. Satellite communication antenna; 9. Quick-release connection structure; 10. Main connecting rod; 11. Arc connecting rod. DETAILED DESCRIPTION

[0025] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings.

[0026] It should be noted that when an element is considered to be "connected" to another element, it may be directly connected to another element and integrated therewith, or there may be an intermediate element at the same time. The terms "installed", "one end", "the other end" and similar expressions used herein are for illustrative purposes only.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which they pertain. The terms used in the specification herein are intended only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0028] like Figure 1-3 As shown, a preferred embodiment of the present invention provides an autonomous rescue system of a drone, comprising a drone mounting carrier module, a detection and identification module, a rescue module, a communication module and a control module, wherein the detection and identification module, the rescue module and the communication module are arranged on the drone carrier module, and the detection and identification module, the rescue module and the communication module are all electrically connected to the control module;

[0029] The detection and identification module is used to detect and image obstacles in the flight direction in the flight environment such as air, ground, and water in real time, and promptly perform real-time on-board fusion processing on the acquired information;

[0030] The rescue module includes a heart rate detection unit, which is used to monitor the heart rate information of the rescued person and send the data to the communication module after real-time measurement;

[0031] The rescue module also includes a rescue cabin body, in which a loading space is formed, and the loading space is used to load the wounded or patients to be rescued. The loading space is a loading space for the personnel or patients to be rescued, and the rescue cabin body can accommodate two patients or wounded lying side by side;

[0032] The UAV mounting carrier module is also provided with a flight control unit, which is used to identify and judge whether there are obstacles or rescue personnel that affect the flight in the immediate flight environment, and to plan obstacle avoidance flight routes and rescue routes in real time;

[0033] The communication module is used to transmit the data, images, videos and other information obtained by the flight control unit, detection and identification module, and rescue module to a designated location on the ground in real time.

[0034] refer to Figure 1-3 As shown, in a further preferred embodiment, the detection and identification module includes an optoelectronic pod, an optoelectronic pod lens 3, an obstacle avoidance radar unit 2 and an image processing unit. The optoelectronic pod lens 3 includes an optical integrated lens. Specifically, the optical integrated lens can be a variety of optical lenses integrating visible light, infrared, laser, etc. The optical integrated lens is used to detect and image the air, ground, and water environments in real time. The obstacle avoidance radar unit is used to detect obstacles in the direction of flight. The image processing unit can perform real-time on-board fusion processing on the information obtained by the optoelectronic pod lens and the obstacle avoidance radar. After processing, information such as people, cars, ships, houses, and power towers can be distinguished, and the longitude and latitude information of the target can be obtained in real time as needed, and the processed information can be sent to the flight control system and communication system of the tandem twin-rotor UAV.

[0035] refer to Figure 1-3 As shown, in a further preferred embodiment, the optoelectronic pod lens and the obstacle avoidance radar unit 2 are both communicatively connected to the image processing unit. The optoelectronic pod lens obtains surrounding video, image or point cloud information at the front end of the UAV. The image processing unit classifies and counts the people, cars, ships, houses, power towers, etc. in the obtained information, and calculates the spatial position relationship between each type of classified information and the UAV.

[0036] refer to Figure 1-3As shown, in a preferred embodiment, the rescue module also includes a respiratory rescue device and an annular space arrangement unit. An equipment installation position is set on the loading space inside the rescue cabin body 6. The respiratory rescue device 4 is set on the equipment installation position inside the rescue cabin body. It can be a ventilator, and there are first aid drugs. The ventilator can provide breathing and oxygen supply treatment for the patient / injured. The annular space arrangement unit is provided with a humidifier and an air-conditioning fan. The annular space arrangement unit is used to adjust the temperature and humidity range in the rescue cabin body 6 to provide a comfortable environment for the patient / injured.

[0037] refer to Figure 1-3 As shown, in a preferred embodiment, a heart rate detection unit is arranged in the rescue cabin body 6, and the heart rate detection unit is communicatively connected with the communication module. The heart rate detection unit performs real-time detection and sends data to the communication module, so that the conditions of the wounded or patients to be rescued can be measured and monitored in real time in a timely manner during the rescue process, and the conditions can be transmitted to relevant ground agencies in real time, so that rescue agencies and doctors can prepare in advance the follow-up treatment equipment and treatment plans for the wounded or patients to be rescued after they arrive at the hospital, which can greatly save the time for understanding the early condition of the wounded or patients to be rescued, and win more effective treatment time for the wounded or patients to be rescued, which is a major innovation in the rescue process.

[0038] refer to Figure 1-3 As shown, in a preferred embodiment, the communication module transmits data with the flight control unit via RS422 transmission, and the flight control unit controls the landing route of the ambulance cabin body. Specifically, the flight control unit determines whether there are obstacles that affect flight safety or people who need treatment. If it is calculated that there are obstacles, the flight control unit will re-plan the obstacle avoidance flight route in real time and continue to fly to the location where the people need treatment; if it is calculated that there are people who need treatment, the flight control unit will plan the landing route according to the spatial position relationship between the people and the rescue system, and the unmanned rescue system will autonomously land next to the people who need treatment.

[0039] refer to Figure 1-3 As shown, in a further preferred embodiment, the detection and identification module establishes a communication connection with the rescue module through a CAN line. After the communication module communicates with the rescue module, the information collected by the rescue module is transmitted to the ground rescue agency, and the ground rescue agency transmits the acquired transmission information to doctors, insurance agents, patients' families and other relevant personnel. After the medical rescue equipment transmits the collected and measured heart rate, breathing and other data of the injured or patients to be rescued to the onboard communication system, it is transmitted to the ground related agencies through the communication system. The ground related agencies obtain the transmitted information and distribute it to doctors, insurance agents, patients' families and other relevant personnel, so that the relevant personnel can understand the situation of the injured or patients to be rescued in real time.

[0040] refer to Figure 1-3In a preferred embodiment, the UAV mounting carrier module is also provided with a power system, a flight control system, a fuel supply system, and an electrical system. The communication module includes communication equipment such as satellite communication, microwave data link, and LTE communication. The data, images, videos, and other information acquired by the flight control system, the detection and identification module, and the rescue module can be transmitted to a designated location on the ground in real time, so that ground personnel can monitor the wounded or patients to be rescued, as well as the information around the UAV in real time.

[0041] refer to Figure 1-3 In a preferred embodiment, it also includes an unmanned aerial vehicle body, the unmanned aerial vehicle body includes an unmanned aerial vehicle main body 1, the unmanned aerial vehicle main body can be a tandem twin-rotor unmanned aerial vehicle, the unmanned aerial vehicle main body 1 is provided with a front cabin of the body and a rear wing cabin of the body, the unmanned aerial vehicle installation carrier module is arranged in the front cabin of the body, the detection and identification module is arranged on the rear wing cabin of the body, and a communication system antenna 7 and a satellite communication antenna 8 are also arranged on the outer body of the front cabin. A quick-release connection mechanism 9 is provided on the bottom surface of the unmanned aerial vehicle main body, and the quick-release connection structure 9 is used to connect the rescue cabin body. Specifically, the quick-release connection structure 9 can be a steel movable buckle structure or other locking structures that are convenient for disassembly and connection, and can be quickly installed and disassembled by two people.

[0042] refer to Figure 1-3 In a preferred embodiment, the quick-release connection structure 9 is provided with an arc-shaped connecting rod mechanism, which includes a main connecting rod member 10. The main connecting rod member 10 is used to form a quick-release connection with the bottom surface of the human-machine main body. The quick-release connection can be moved to the rescue object or destination at any time. A steel connecting ring is provided on the main connecting rod member 10, and a connecting portion is provided on the steel connecting ring 10. The two ends of the main connecting rod member are integrally connected with an arc-shaped connecting rod 11. The arc-shaped rod 11 forms auxiliary rods on both sides of the rescue cabin body. There are more than two arc-shaped connecting rod mechanisms. The arc-shaped rods are provided on both sides of the rescue cabin body to form a stable peripheral structure, thereby enhancing the structural strength of the drone body and facilitating the stable operation of the unmanned autonomous rescue system.

[0043] In further, according to the schematic Figure 3As shown, the working principle of the present invention is: when implementing rescue, the intelligent image processing unit in the detection and identification module of this embodiment communicates with the communication module using Ethernet, and the multifunctional optoelectronic pod, obstacle avoidance radar, etc. in the detection and identification module work throughout the flight process to obtain the video, image, and point cloud information of the front end and the surrounding of the UAV, and the obtained information is handed over to the intelligent image processing unit for real-time fusion processing. After processing, the people, cars, ships, houses, power towers, etc. in the obtained information are classified and counted, and the spatial position relationship between each type of classified information and the UAV is calculated, and then the classified information and position relationship data are transmitted to the UAV flight control system via RS422, and the UAV flight control system determines whether there are obstacles that affect flight safety and whether there are people who need to be rescued. If an obstacle is calculated, the flight control system will re-plan the obstacle avoidance flight route in real time and continue to fly to the location where people need to be treated. If people who need to be treated are calculated, the flight control unit will plan the landing route according to the spatial position relationship between the personnel and the rescue system, and the unmanned rescue system will autonomously land next to the person who needs treatment. After the unmanned rescue system lands, it will be assisted by auxiliary personnel or the patient / injured person will enter the rescue cabin autonomously, connect the medical rescue equipment as needed, fasten the seat belt, and close the rescue cabin door. After the unmanned rescue system autonomously detects that the seat belt is fastened and the rescue cabin door is closed, it will autonomously take off vertically, return to the medical rescue agency autonomously according to the route and land vertically. After landing, the medical staff will assist in carrying the injured or patients to be rescued out of the rescue cabin for treatment.

[0044] The beneficial effects of the present invention are as follows: the present invention provides an autonomous rescue system for unmanned aerial vehicles, which is provided with a detection and identification module, a rescue module and a communication module. The detection and identification module, the rescue module and the communication module are arranged on the carrier module of the unmanned aerial vehicle. The detection and identification module is used for real-time detection and imaging of obstacles in the direction of flight in flight environments such as air, ground and water, and timely real-time on-board fusion processing of the acquired information. The communication module is used for real-time transmission of data, images, videos and other information acquired by the flight control unit, the detection and identification module and the rescue module to a designated location on the ground. The autonomous rescue system for unmanned aerial vehicles provided by the present invention has a rescue cabin body which can carry patients, and the vital characteristics of patients can be continuously monitored on board, and the monitoring data can be continuously and real-time sent to ground medical rescue institutions, so as to provide life support for patients on the way back to the medical rescue institutions.

[0045] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0046] In the description of this specification, the description with reference to the terms "preferred embodiment", "further embodiment", "other embodiments" or "specific example" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0047] The above embodiments only express several implementation methods of the invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the invention, and these all belong to the protection scope of the invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An autonomous drone rescue system, characterized in that: It includes a drone installation carrier module, a detection and identification module, a rescue module, a communication module and a control module. The detection and identification module, the rescue module and the communication module are arranged on the drone carrier module, and the detection and identification module, the rescue module and the communication module are electrically connected to the control module. The detection and identification module is used to detect and image obstacles in the flight direction in the flight environment such as air, ground, and water in real time, and timely perform real-time on-board fusion processing on the acquired information; The rescue module includes a heart rate detection unit, which is used to monitor the heart rate information of the rescued person and send the data to the communication module after real-time measurement; The rescue module also includes a rescue cabin body, wherein a loading space is formed in the rescue cabin body, and the loading space is used to load the wounded or patients to be rescued; The UAV mounting carrier module is also provided with a flight control unit, which is used to identify and determine whether there are obstacles that affect the flight or people to be rescued in the immediate flight environment, and to plan obstacle avoidance flight routes and rescue routes in real time; The communication module is used to transmit the data, images, videos and other information acquired by the flight control unit, detection and identification module, and rescue module to a designated location on the ground in real time.

2. The autonomous drone rescue system according to claim 1, characterized in that: The detection and identification module includes an optoelectronic pod lens, an obstacle avoidance radar unit and an image processing unit. The optoelectronic pod lens includes an optical integrated lens, which is used to detect and image the air, ground and water surface environments in real time. The obstacle avoidance radar unit is used to detect obstacles in the direction of flight. The image processing unit can perform real-time on-board fusion processing on the information obtained by the optoelectronic pod lens and the obstacle avoidance radar.

3. The autonomous drone rescue system according to claim 2, characterized in that: The optoelectronic pod lens and the obstacle avoidance radar unit are both communicatively connected to the image processing unit. The optoelectronic pod lens acquires surrounding video, image or point cloud information at the front end of the UAV. The image processing unit classifies and counts the people, vehicles, ships, houses, electric towers, etc. in the acquired information, and calculates the spatial position relationship between each type of classified information and the UAV.

4. The autonomous drone rescue system according to claim 1, characterized in that: The rescue module also includes a respiratory rescue device and an annulus arrangement unit. An equipment installation position is arranged on the loading space in the rescue cabin body. The respiratory rescue device is arranged on the equipment installation position in the rescue cabin body. The annulus arrangement unit is provided with a humidifier and an air-conditioning fan. The annulus arrangement unit is used to adjust the temperature and humidity range in the rescue cabin body.

5. The autonomous drone rescue system according to claim 1, characterized in that: The heart rate detection unit is arranged in the rescue cabin body, and is in communication connection with the communication module. The heart rate detection unit sends data to the communication module after real-time detection.

6. The autonomous drone rescue system according to claim 1, characterized in that: The communication module transmits data with the flight control unit via RS422, and the flight control unit controls the landing route of the rescue cabin body.

7. The autonomous drone rescue system according to claim 1, characterized in that: The detection and identification module establishes a communication connection with the rescue module through the CAN line. After the communication module communicates with the rescue module, the information collected by the rescue module is transmitted to the ground rescue agency, and the ground rescue agency transmits the acquired transmission information to doctors, insurance agents, patients' families and other relevant personnel.

8. The autonomous drone rescue system according to claim 1, characterized in that: The UAV mounting carrier module is also provided with a power system, a flight control system and a fuel supply system, and the communication module includes communication equipment such as satellite communication, microwave data link and LTE communication.

9. The autonomous drone rescue system according to claim 1, characterized in that: It also includes an unmanned aerial vehicle body, which includes an unmanned aerial vehicle main body, on which a front cabin and a rear wing cabin are provided, the unmanned aerial vehicle installation carrier module is arranged in the front cabin, the detection and identification module is arranged on the rear wing cabin, and a quick-release connection mechanism is provided on the bottom surface of the unmanned aerial vehicle main body, and the quick-release connection structure is used to connect to the rescue cabin body.

10. The autonomous drone rescue system according to claim 9, characterized in that: The quick-release connection structure is provided with an arc-shaped connecting rod mechanism, which includes a main connecting rod member, and the main connecting rod member is used to form a quick-release connection with the bottom surface of the human-machine main body. The main connecting rod member is provided with a steel connecting ring, and the steel connecting ring is provided with a connecting portion. The two ends of the main connecting rod member are integrally formed with arc-shaped connecting rods, and the arc-shaped rods form auxiliary rods on both sides of the rescue cabin body. The arc-shaped connecting rod mechanism is provided with more than two.

Images