Tapered insertion brake deceleration structure of ice surface rescue unmanned aerial vehicle and ice surface rescue unmanned aerial vehicle

Abstract

According to the ice surface rescue unmanned aerial vehicle cone insertion brake deceleration structure and the ice surface rescue unmanned aerial vehicle, an air cylinder drives a telescopic rod to stretch, the telescopic rod drives a brake cone to be inserted into the ice surface, braking force can be generated on the unmanned aerial vehicle, and the sliding speed of the unmanned aerial vehicle is reduced. The device is characterized in that the device is composed of a machine body, sliding plates, second screws, sliding plate grooves, a rack, a rack head, a rack tail, a rack middle part, air cylinders, telescopic rods, a circular plate and a brake cone, the rack comprises the rack head, the rack tail and the rack middle part, the sliding plates comprise two vertical sliding plates and two transverse sliding plates, and the air cylinders are correspondingly arranged on the two sides of the bottom face of the rack middle part respectively; the air cylinder is located between the two transverse sliding plates, the air cylinder is located between the side face of the machine body and the vertical sliding plate, one end of a telescopic rod is arranged in the air cylinder in a sliding mode, the other end of the telescopic rod is arranged on the top face of a circular plate, and a brake cone is arranged on the bottom face of the circular plate.

Description

Technical Field

[0001] The present invention discloses a cone-insertion brake deceleration structure for an ice surface rescue UAV and an ice surface rescue UAV, which relate to a deceleration structure installed on an ice surface rescue UAV, and belong to the technical field of ice surface rescue, and particularly to a deceleration structure that drives a telescopic rod to extend through a cylinder, and the telescopic rod drives a brake cone to insert into the ice surface, thereby generating a braking force on the UAV and reducing the gliding speed of the UAV. Background Art

[0002] When the weather is cold, the river surface will freeze due to the drop in temperature. Affected by factors such as sunlight, water flow speed, wind force, and nearby human activities, the thickness of the ice layer in different areas of the river surface is different. When people skate on the ice, it is difficult to accurately judge the thickness of the ice layer with the naked eye. The pressure on the ice layer caused by skating on the ice surface for a long time and the influence of sunlight will cause the ice layer to crack, which is prone to falling into the water. According to measurements, people will lose sensation in their limbs after 15 minutes in water below 0°, and in water between 0° and 10°, their limbs will become numb and stiff after 4 minutes, and they will lose the ability to save themselves and cooperate with rescue. Therefore, it is necessary to rescue people who fall into the water in time. At present, the main method of ice rescue is manual. Rescuers tie safety ropes on the shore, and then carry ladders, lifebuoys and other tools to climb ice to reach the location of the person who fell into the water and rescue the person who fell into the water. Because the braking force of the human body on the ice is small, rescuers will slide back and forth on the ice. Manual rescue is inefficient and labor-intensive, and there is a risk of rescuers falling into the water.

[0003] Announcement No. CN206968953U discloses a remote-controlled ice rescue robot, including a shell and a remote control. A support plate is provided on the inner side wall of the shell, and an automatic wire reel and a rope thrower are provided on the support plate. The automatic wire reel and one end of the rope are fixed, and an ice claw is fixed to the other end of the rope. A support rod is provided between the rope thrower and the support plate. A throwing port is provided on the shell opposite to the rope thrower, a ventilation window is provided on the side wall of the shell, and a handle is provided on the outside of the ventilation window. A heater is provided in the shell opposite to the ventilation window. A motor, a blower and a controller are also provided in the shell. The blower is connected to the airbag through an air supply pipe. The bottom of the shell is fixed to one end of a connecting rod, and a driving wheel and a driven wheel are provided on the other end of the connecting rod. The driving wheel and the driven wheel are connected by tracks. The ice rescue robot drops crampons onto the ice surface, fixes the crampons on the ice surface, and then the person who falls into the water grabs the handle and pulls the person out of the water. However, the crampons are only fixed on the ice surface, and under the pressure and shaking of the person who falls into the water, the crampons may loosen, and the ice rescue robot may fall into the water, making it impossible to continue rescuing the person who falls into the water. Moreover, the ice rescue robot only pulls the person who falls into the water out of the water, but cannot quickly bring the person back to the shore. After being soaked in water for a long time, the person who falls into the water will experience numbness and stiffness of the limbs and needs timely medical treatment. However, the rescuers cannot quickly reach the rescue site to treat the person who falls into the water due to the slippery ice surface, resulting in the person who falls into the water being unable to quickly recover his body functions.

[0004] In order to improve the above problems, the applicant filed a Chinese invention patent application entitled "An Ice Rescue Drone", which uses the sliding force of the skateboard and the mat on the ice surface and the pulling force of the pull rope to drive the person who fell into the water back to the support platform to complete the rescue of the person who fell into the water. However, the above ice rescue drone is not equipped with a deceleration device. Before the drone approaches the support platform, even if the rotation of the first motor and the second motor is stopped, the drone will continue to slide on the ice surface for a distance due to the sliding force of the skateboard and the mat on the ice surface and the inertia of the drone itself. The braking force between the skateboard and the mat and the ice surface is small, and the deceleration is slow, which makes it impossible for the drone to quickly, stably and safely approach the support platform, which may cause the body of the person who fell into the water to be injured again. Summary of the invention

[0005] In order to improve the above situation, the present invention provides a cone-insertion brake deceleration structure for an ice rescue UAV and an ice rescue UAV, which provides a deceleration structure that drives a telescopic rod to extend through a cylinder, and the telescopic rod drives the brake cone to insert into the ice surface, thereby generating braking force on the UAV and reducing the gliding speed of the UAV.

[0006] The cone-insertion braking and deceleration structure of an ice surface rescue UAV and the ice surface rescue UAV of the present invention are realized as follows: The cone-insertion braking and deceleration structure of an ice surface rescue UAV of the present invention is composed of a body, a slide plate, a second screw, a slide plate groove, a frame, a frame head, a frame tail, a frame middle part, a cylinder, a telescopic rod, a circular plate and a brake cone. The rack includes three parts: a rack head, a rack tail and a rack middle part. The two ends of the rack middle part correspond to one end of the rack head and one end of the rack tail. The frame is placed on the top surface of the body, the length of the body is smaller than the length of the frame, the width of the body is smaller than the width of the frame, and the body is a hollow structure. The slide plate comprises two vertical slide plates and two horizontal slide plates, and two horizontal slide plates are arranged between the two vertical slide plates. The bottom surfaces of the two horizontal sliding plates are respectively provided with second screws. A plurality of second screws are equidistantly arranged in the slide slot, and the transverse slide is detachably arranged at both ends of the bottom surface of the machine body through the plurality of second screws, and the length of the transverse slide is greater than the width of the machine body. Cylinders are disposed on both sides of the bottom surface of the middle part of the frame, respectively. The cylinders are located between the two horizontal slides, and the cylinders are located between the side surface of the machine body and the vertical slides. One end of the telescopic rod is slidably placed in the cylinder. The other end of the telescopic rod is placed on the top surface of the circular plate, and the outer diameter of the circular plate is smaller than the distance between the side surface of the machine body and the vertical sliding plate. A brake cone is disposed on the bottom surface of the circular plate, and the outer diameter of the brake cone gradually decreases from one end connected to the bottom surface of the circular plate to the other end. Preferably, the brake cone is a spiral structure. Preferably, there are multiple groups of brake cones, and the multiple groups of brake cones are arranged at unequal distances radially along the bottom surface of the circular plate. Each group of brake cones has multiple brake cones, and the multiple brake cones are arranged at equal distances circumferentially along the bottom surface of the circular plate. Preferably, the density of the brake cone near the center of the circular plate is greater than the density of the brake cone near the edge of the circular plate. Preferably, the lengths of the multiple brake cones in each group are the same, and the lengths of the multiple groups of brake cones gradually decrease from the center to the edge of the circular plate. Preferably, brake teeth are evenly arranged on the side of the brake cone, and the width of the brake teeth gradually decreases from one side connected to the side of the brake cone to the other side. Preferably, the brake tooth is made of rubber material, the thickness of the brake tooth gradually decreases from one end to the other end, one end of the brake tooth is close to the circular plate, and the other end is far away from the circular plate. Preferably, the brake teeth extend in an arc shape from one end to the other end. Preferably, one end of the first connecting rod is vertically arranged on the side surface of the other end of the telescopic rod, the other end of the first connecting rod is vertically arranged on the side surface of one end of the second connecting rod, the other end of the second connecting rod is arranged on the top surface of the auxiliary circular plate, the height of one end of the second connecting rod is greater than the height of the other end of the second connecting rod, and the first connecting rod is parallel to the vertical sliding plate, a plurality of auxiliary brake cones are evenly arranged on the bottom surface of the auxiliary circular plate, and the height of the auxiliary circular plate is the same as that of the circular plate; Furthermore, a brake pad is placed between the bottom surface of the circular plate and one end of the brake cone, and the edge of the brake pad is connected to the edge of the bottom surface of the circular plate; Furthermore, the brake cone is replaced with a rubber brake pattern, and the bottom surface of the circular plate is provided with a rubber brake pattern, and the rubber brake pattern is a structure with multiple bends from one end to the other end. Preferably, there are multiple rubber brake patterns, and the multiple rubber brake patterns are arranged equidistantly along the bottom surface of the circular plate in a radial direction, and the lengths of the multiple rubber brake patterns gradually decrease from the center of the bottom surface of the circular plate to the edge; The present invention also relates to an ice rescue drone, which is composed of a flight component, a drive component, a pull rope component, a storage component and a sliding component. The flight assembly is composed of a frame, a frame head, a frame tail, a frame middle, a frame wing, a float, a first screw, an L-shaped fixing plate, a lighting lamp and a first handle. The rack includes three parts: a rack head, a rack tail and a rack middle part. The two ends of the rack middle part correspond to one end of the rack head and one end of the rack tail. The frame is a hollow structure, and the edge of the frame is an arc-shaped inwardly concave structure. The four corners of the frame are respectively provided with frame wings, and the frame wings are arc-shaped structures. A group of L-shaped fixing plates are respectively disposed on both sides of the middle part of the frame, and each group has two L-shaped fixing plates. The two L-shaped fixing plates in the same group are respectively disposed on the top surface and the bottom surface of the middle part of the frame by a plurality of first screws. Floating bodies are disposed on both sides of the middle of the frame, and the floating bodies are U-shaped structures. The two ends of the floating bodies are connected to the two L-shaped fixing plates in the same group. Lighting lamps are respectively arranged on both sides of the top surface of the frame. The first handle is placed at the other end of the frame. Preferably, the first handle has anti-slip grooves. The driving assembly is composed of a body, a frame rod, a second motor, a waterproof shell, a first rotating shaft, a flight fan blade, a protective net, a ring, an air guide hole, a camera and a speaker. The frame is placed on the top surface of the body, the body is a hollow structure, the length of the body is smaller than the length of the frame, and the width of the body is smaller than the width of the frame. The wings of the frame are respectively provided with air guide holes. The top surfaces of the frame wings are respectively provided with circular rings, and the inner side edges of the circular rings are connected to the edge of one end of the air guide holes. A protective net is arranged on the inner side of the ring, and the edge of the protective net is connected to the edge of the inner side of the ring. The four corners of the machine body are respectively provided with one end of a frame rod, and the other end of the frame rod is located directly below the other end of the air guide hole. The waterproof housing is embedded in a through hole on the top surface of the other end of the rack rod. The second motor is placed in the waterproof housing. One end of the first rotating shaft passes through a through hole opened on the top surface of the waterproof housing and is connected to the motor shaft of the second motor. The middle part of the flying blade is sleeved on the other end of the first rotating shaft through the through hole. A camera is disposed at one end of the body, the camera is close to the first handle, and a pressure sensor is disposed on the first handle. A speaker is disposed at one end of the body. The pull rope assembly is composed of a limit plate, a limit column, a support platform, a pull rope, a first motor, a second rotating shaft, an electric telescopic rod and an L-shaped rope limit plate. The supporting platform is a U-shaped structure. A limiting column is disposed on the top surface of one side of the support platform, and a first motor is disposed on the top surface of the other side of the support platform. Two limiting plates are located between the limiting column and the first motor, wherein one limiting plate is connected to the limiting column, and the other limiting plate is connected to the first motor. One end of the second rotating shaft is placed in the middle of one of the limiting plates through a bearing, and the other end of the second rotating shaft passes through a through hole opened in the middle of the other limiting plate and is connected to the motor shaft of the first motor, and a bearing is placed between the second rotating shaft and the other limiting plate. One end of the pull rope is wound around the side of the second rotating shaft. One end of the L-shaped rope limiting plate is placed at the other end of the machine body, and the L-shaped rope limiting plate is close to the tail of the frame. One end of the electric telescopic rod is placed at the other end of the machine body and is located above the L-shaped rope limiting plate. The other end of the electric telescopic rod is in contact with the side surface of the other end of the L-shaped rope limiting plate. The other end of the pull rope is placed on the other end side of the L-shaped rope limiting plate. The storage assembly is composed of a limit plate, a rectangular opening and a box body. The box is placed in the middle of the top surface of the frame, and the box is a structure with an open top surface. Limiting plates are respectively arranged on both sides of the top surface of the box body, and both ends and one side of the limiting plates are respectively connected to the edges of the top surface of the box body. A rectangular opening is arranged between the other sides of the two limit plates. The sliding assembly is composed of a slide plate, snow removal saw teeth, a slide plate groove, a second screw, a third rotating shaft, a magnet, a pad and an iron sheet. The slide plate comprises two vertical slide plates and two horizontal slide plates, and two horizontal slide plates are arranged between the two vertical slide plates. The bottom surfaces of the two transverse slide plates correspond to the slide plate grooves respectively. A plurality of second screws are equidistantly arranged in the slide slot, and the transverse slide is detachably arranged at both ends of the bottom surface of the machine body through the plurality of second screws. The length of the cross slide is greater than the width of the machine body, The side of the horizontal slide plate is provided with snow-removing saw teeth, which are triangular prism structures with the edges facing the rear of the frame. Preferably, there are a plurality of snow-removing saw teeth, and the plurality of snow-removing saw teeth are arranged equidistantly along the side of the transverse sliding plate. The two ends of the third rotating shaft are respectively placed on the sides of the two vertical slide plates through bearings, and the third rotating shaft is close to the front of the frame. One end of the pad is placed on the side of the third rotating shaft, and a magnet is placed on the top surface of the other end of the pad. An iron sheet is placed on the bottom surface of the pad cloth, and the iron sheet corresponds to the magnet. Preferably, the pad is made of a buoyant material with a density less than that of water. Preferably, the ice rescue drone further comprises a control system, which comprises a monitoring background, a signal converter, a data processor and a controller. The signal converter is placed on the support platform, the data processor is placed on the support platform, and the controller is placed on the support platform. The camera and the pressure sensor are connected to the signal converter via a data line. The electric telescopic rod, the lighting lamp, the horn, the first motor, the second motor, the cylinder and the telescopic rod are respectively connected to the controller via data transmission lines. The controller and the monitoring background establish signal interaction, The signal converter is connected to the data processor via a data transmission line, and the data processor is connected to the controller via a data transmission line. The signal converter can convert the electrical signal of the image data collected by the camera into a digital signal. The controller can be implemented by one or at least two application-specific integrated circuits (ASICs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components for executing instructions of the data processing device. The data processor and the signal converter perform information exchange, When the control system is executed, the following steps are mainly implemented: The support platform is installed on the river bank, and the pad is stored on the bottom surface of the machine body through the adsorption force of magnets and iron sheets. When the monitoring background receives an alarm call that someone has fallen into the water, the position of the person who has fallen into the water and the distance to the support platform are determined, and the outbound flight route and the return glide route are set for the machine body. The controller starts the first motor and the second motor. The first motor drives the second shaft to rotate, the second shaft drives the pull rope to rotate, the second motor drives the first shaft to rotate, the first shaft drives the flying blades to rotate, and the flying blades drive the machine body and the pull rope to fly to the falling position of the person who has fallen into the water according to the preset outbound flight route. The camera collects image data of the ice surface and sends the collected image data signal to the signal converter. The signal converter converts the electrical signal of the received image data signal into a digital signal and sends it to the data processor. The data processor processes the digital signal of the received image data and identifies the brightness value in the image data. When the brightness value of the image is lower than the preset brightness value, an execution instruction is sent to the controller. The controller controls the lighting to start. When the machine body approaches the water surface where the person who has fallen into the water is located, the controller controls the first motor to start. The first motor stops and the second motor stops, the horn starts, and the machine body floats on the water surface through the floats on both sides. The monitoring background reminds the person who falls into the water through the horn to grab the first handle, open it and climb onto the mat. When there are multiple people who fall into the water, after a person who falls into the water grabs the first handle, he can take out the life-saving equipment such as the life-saving ball and the life buoy stored in the box and throw them to other people who fall into the water to provide support for them. The pressure sensor collects the pressure data on the first handle and sends the collected pressure data signal to the signal converter. The signal converter converts the electrical signal of the received pressure data signal into a digital signal and sends it to the data processor. The data processor processes the digital signal of the received pressure data. When the pressure data is greater than the preset pressure data, it means that the person who falls into the water has grasped the first handle, and sends an execution instruction to the controller. The controller controls the first motor to start, the first motor drives the second shaft to rotate, the second shaft drives the pull rope to rotate, and the pull rope drives the machine body to slide along the preset return route. The sliding force of the skateboard and the mat on the ice surface and the pulling force of the pull rope drive the person who falls into the water to return to the support platform, thereby completing the rescue of the person who falls into the water. Furthermore, a second handle is disposed on the side of the floating body, and there are two second handles, and the two second handles correspond to the floating body one by one. Furthermore, the vertical sliding plate is replaced by a wide sliding plate, and the width of the wide sliding plate is greater than the width of the vertical sliding plate. Beneficial Effects

[0007] 1. The telescopic rod is extended by the cylinder, and the telescopic rod drives the brake cone to insert into the ice surface, which can generate braking force on the drone and reduce the gliding speed of the drone.

[0008] 2. Simple structure, convenient and practical.

[0009] 3. Low cost and easy to promote. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a three-dimensional structural diagram of an ice rescue drone of the present invention; Figure 2 This is a three-dimensional structural diagram of an ice rescue drone of the present invention, in which only the structure of the first screw and the L-shaped fixing plate are shown; Figure 3 This is a three-dimensional structural diagram of an ice rescue drone of the present invention, in which only the structures of the flight component and the gliding component are shown; Figure 4 This is a three-dimensional structural diagram of an ice rescue drone of the present invention, in which only the structures of the camera and the lighting lamp are shown; Figure 5 This is a three-dimensional structural diagram of an ice rescue drone of the present invention, in which only the structures of the first rotating shaft and the second motor are shown; Figure 6 This is a three-dimensional structural diagram of an ice rescue drone of the present invention, in which only the structure of the slide slot and the second screw are shown; Figure 7 This is a three-dimensional structural diagram of Embodiment 2 of an ice rescue drone of the present invention; Figure 8 This is a three-dimensional structural diagram of Embodiment 3 of an ice rescue drone of the present invention; Fig. 9 It is a three-dimensional structural diagram of a cone-insertion braking and deceleration structure of an ice surface rescue drone of the present invention; Fig.10 This is a three-dimensional structural diagram of a cone-insertion braking and deceleration structure of an ice rescue drone of the present invention, in which only the structures of the circular plate and the brake cone are shown; Fig.11 It is a three-dimensional structural diagram of Embodiment 2 of a cone-insertion braking and deceleration structure of an ice rescue drone of the present invention; Fig.12 It is a three-dimensional structural diagram of Example 3 of a cone-insertion braking and deceleration structure for an ice rescue drone of the present invention. Attached photos

[0011] The components include: a limit plate (1), a limit column (2), a support platform (3), a pull rope (4), a protective net (5), a frame wing (6), a floating body (7), a middle portion of the frame (8), an air guide hole (9), a first rotating shaft (10), a flying fan blade (11), a magnet (12), a pad (13), a first handle (14), a frame head (15), a circular ring (16), a lighting lamp (17), a box body (18), a rectangular opening (19), a limit plate (20), a first motor (21), a second rotating shaft (22), a first screw (23), an L-shaped fixing plate (24), and a frame tail. (25), electric telescopic rod (26), L-shaped rope limiting plate (27), slide plate (28), snow removal saw teeth (29), machine body (30), iron sheet (31), frame rod (32), frame (33), speaker (34), camera (35), third rotating shaft (36), second motor (37), waterproof housing (38), slide plate groove (39), second screw (40), second handle (41), wide slide plate (42), cylinder (43), telescopic rod (44), round plate (45), brake cone (46), brake pad (47), rubber brake pattern (48). DETAILED DESCRIPTION Example 1

[0012] The present invention discloses a cone-insertion brake deceleration structure for an ice rescue drone, which comprises a body (30), a slide plate (28), a second screw (40), a slide plate groove (39), a frame (33), a frame head (15), a frame tail (25), a frame middle part (8), a cylinder (43), a telescopic rod (44), a circular plate (45) and a brake cone (46). The frame (33) comprises three parts: a frame head (15), a frame tail (25) and a frame middle part (8), wherein two ends of the frame middle part (8) are respectively provided with one end of the frame head (15) and one end of the frame tail (25). The frame (33) is placed on the top surface of the body (30); the length of the body (30) is smaller than the length of the frame (33); the width of the body (30) is smaller than the width of the frame (33); and the body (30) is a hollow structure. The slide plate (28) comprises four parts, namely, two vertical slide plates (28) and two horizontal slide plates (28). Two horizontal slide plates (28) are arranged between the two vertical slide plates (28). The bottom surfaces of the two horizontal slide plates (28) are respectively provided with second screws (40). A plurality of second screws (40) are equidistantly arranged in the slide groove (39); the transverse slide (28) is detachably arranged at two ends of the bottom surface of the machine body (30) by means of the plurality of second screws (40); the length of the transverse slide (28) is greater than the width of the machine body (30); Cylinders (43) are respectively disposed on both sides of the bottom surface of the middle portion (8) of the frame, and the cylinders (43) are located between the two horizontal slides (28). The cylinders (43) are located between the side surfaces of the machine body (30) and the vertical slides (28). One end of the telescopic rod (44) is slidably disposed in the cylinder (43). The other end of the telescopic rod (44) is placed on the top surface of a circular plate (45), and the outer diameter of the circular plate (45) is smaller than the distance between the side surface of the machine body (30) and the vertical sliding plate (28). A brake cone (46) is disposed on the bottom surface of the circular plate (45), and the outer diameter of the brake cone (46) gradually decreases from one end connected to the bottom surface of the circular plate (45) to the other end. Preferably, the brake cone (46) is a spiral structure. Preferably, the brake cones (46) are provided in a plurality of groups, and the plurality of groups of brake cones (46) are arranged unequally in the axial direction along the bottom surface of the circular plate (45); each group of the brake cones (46) has a plurality of brake cones (46), and the plurality of brake cones (46) are arranged equidistantly in the circumferential direction along the bottom surface of the circular plate (45); Preferably, the density of the brake cone (46) near the center of the circular plate (45) is greater than the density of the brake cone (46) near the edge of the circular plate (45). Preferably, the lengths of the plurality of brake cones (46) in each group are the same, and the lengths of the plurality of groups of brake cones (46) gradually decrease from the center to the edge of the circular plate (45). Preferably, brake teeth are evenly arranged on the side of the brake cone (46), and the width of the brake teeth gradually decreases from one side connected to the side of the brake cone (46) to the other side. Preferably, the brake tooth is made of rubber material, the thickness of the brake tooth gradually decreases from one end to the other end, one end of the brake tooth is close to the circular plate (45), and the other end is far away from the circular plate (45). Preferably, the brake teeth extend in an arc shape from one end to the other end. Preferably, one end of the first connecting rod is vertically arranged on the side surface of the other end of the telescopic rod (44), the other end of the second connecting rod is vertically arranged on the side surface of one end of the second connecting rod, the other end of the second connecting rod is arranged on the top surface of the auxiliary circular plate (45), the height of one end of the second connecting rod is greater than the height of the other end of the second connecting rod, and the first connecting rod is parallel to the vertical sliding plate (28), a plurality of auxiliary brake cones (46) are evenly arranged on the bottom surface of the auxiliary circular plate (45), and the height of the auxiliary circular plate (45) and the circular plate (45) are the same; When in use, the deceleration structure is installed on the ice rescue drone. When the drone drives the person who falls into the water back to the support platform (3) through the sliding force of the slide plate (28) and the pad cloth (13) on the ice surface and the pulling force of the pull rope (4), the monitoring background checks the distance between the drone and the support platform (3). When the distance between the drone and the support platform (3) is equal to the preset distance, the controller stops the first motor (21) and the second motor (37), and the controller starts the cylinder (43) and the telescopic rod (44). The telescopic rod (44) extends, drives the circular plate (45) downward, and inserts the brake cone (46) into the ice surface, thereby decelerating the drone. The drone can slowly and safely approach the support platform (3) under the sliding force of the slide plate (28) and the pad cloth (13), its own inertia, and the braking force of the brake cone (46), thereby reducing the damage to the person who falls into the water. Example 2

[0013] The difference between this embodiment and embodiment 1 is that a brake pad (47) is disposed between the bottom surface of the circular plate (45) and one end of the brake cone (46), and the edge of the brake pad (47) is connected to the edge of the bottom surface of the circular plate (45); when in use, the brake pad (47) can reduce the impact and vibration of the UAV caused by the deformation of the brake cone (46) when inserted into the ice surface, thereby improving the stability of the UAV; Example 3

[0014] The difference between this embodiment and embodiment 1 is that: the brake cone (46) is replaced by a rubber brake pattern (48), the bottom surface of the circular plate (45) is provided with a rubber brake pattern (48), the rubber brake pattern (48) is a structure with multiple bends from one end to the other end, there are a plurality of rubber brake patterns (48), the plurality of rubber brake patterns (48) are arranged equidistantly along the radial direction of the bottom surface of the circular plate (45), and the length of the plurality of rubber brake patterns (48) gradually decreases from the center of the bottom surface of the circular plate (45) to the edge; when in use, the contact area between the rubber brake pattern (48) and the ice surface is larger, the braking force generated is larger, and the deceleration effect on the drone is better; The design that the outer diameter of the circular plate (45) is smaller than the distance between the side of the machine body (30) and the vertical slide plate (28) can ensure that the circular plate (45) moves up and down between the side of the machine body (30) and the vertical slide plate (28) under the drive of the telescopic rod (44) without colliding with the machine body (30) or the vertical slide plate (28); The brake cone (46) is designed with a spiral structure, which can increase the contact area between the brake cone (46) and the ice surface, generate a greater braking force, and have a better deceleration effect on the drone; The density of the brake cones (46) near the center of the circular plate (45) is greater than the density of the brake cones (46) near the edge of the circular plate (45); the lengths of the multiple brake cones (46) in each group are the same; and the lengths of the multiple groups of brake cones (46) are gradually reduced from the center to the edge of the circular plate (45). In the process of decelerating the UAV, the brake cones (46) with high density and large length in the center area have a larger contact area with the ice surface, and can generate a greater braking force to quickly reduce the speed of the UAV. The brake cones (46) with low density and small length in the edge area generate a gradually reduced braking force, which can reduce the shaking or deviation of the UAV caused by uneven distribution of braking force, and help the UAV maintain a stable gliding trajectory during the deceleration process. Braking teeth are evenly arranged on the side of the brake cone (46), and the width of the brake teeth is designed to gradually decrease from one side connected to the side of the brake cone (46) to the other side. The brake teeth cooperate with the brake cone (46) to increase the contact area between the brake cone (46) and the ice surface, thereby generating a greater braking force and having a better deceleration effect on the drone. The width of the brake teeth gradually decreases from one side to the other side, which can reduce the impact force, reduce the wear of the brake teeth, and extend the service life of the brake cone (46); The brake teeth are made of rubber material, and the thickness of the brake teeth gradually decreases from one end to the other end. The design of one end of the brake teeth being close to the circular plate (45) and the other end being far away from the circular plate (45) can play a buffering role when the brake cone (46) contacts the ice surface, reduce the hard impact force on the brake cone (46), reduce the wear of the brake cone (46), and at the same time improve the adhesion between the brake cone (46) and the ice surface, thereby improving the deceleration effect; The design of the brake teeth extending in an arc shape from one end to the other end can increase the contact area between the brake teeth and the ice surface, thereby improving the braking force of the brake cone (46), enabling the drone to decelerate more effectively. At the same time, the brake cone (46) can deform when subjected to an impact force, absorbing part of the impact energy, thereby protecting the brake cone (46) from damage; One end of the first connecting rod is vertically arranged on the side surface of the other end of the telescopic rod (44), and the other end of the second connecting rod is vertically arranged on the side surface of one end of the second connecting rod. The other end of the second connecting rod is arranged on the top surface of the auxiliary circular plate (45). The height of one end of the second connecting rod is greater than the height of the other end of the second connecting rod, and the first connecting rod and the vertical sliding plate (28) are parallel. A plurality of auxiliary brake cones (46) are evenly arranged on the bottom surface of the auxiliary circular plate (45). The auxiliary circular plate (45) and the circular plate (45) are designed to have the same height. When the UAV needs to decelerate, the telescopic rod (44) is extended to drive the brake cones (46) on the circular plate (45) and the brake cones (46) on the auxiliary circular plate (45) to be inserted into the ice surface at the same time, so that the contact area with the ice surface is larger, the braking force generated is larger, and the deceleration effect on the UAV is better.

[0015] The purpose is achieved that the telescopic rod (44) can be extended by the cylinder (43), and the telescopic rod (44) drives the brake cone (46) to be inserted into the ice surface, thereby generating a braking force on the UAV and reducing the sliding speed of the UAV.

[0016] It should be noted that the cone-insertion braking and deceleration structure is applicable to the following ice rescue drones: The ice rescue drone of the present invention is realized as follows: The ice rescue drone of the present invention is composed of a flight component, a drive component, a pull rope (4) component, a storage component and a sliding component. The flight assembly is composed of a frame (33), a frame head (15), a frame tail (25), a frame middle (8), a frame wing (6), a float (7), a first screw (23), an L-shaped fixing plate (24), a lighting lamp (17) and a first handle (14). The frame (33) comprises three parts: a frame head (15), a frame tail (25) and a frame middle part (8), wherein two ends of the frame middle part (8) are respectively provided with one end of the frame head (15) and one end of the frame tail (25). The frame (33) is a hollow structure, and the edge of the frame (33) is an arc-shaped inwardly concave structure. The four corners of the frame (33) are respectively provided with frame wings (6), and the frame wings (6) are arc-shaped structures. A group of L-shaped fixing plates (24) are respectively disposed on both sides of the middle portion (8) of the frame, and each group includes two L-shaped fixing plates (24). The two L-shaped fixing plates (24) in the same group are respectively disposed on the top surface and the bottom surface of the middle portion (8) of the frame by means of a plurality of first screws (23). Floating bodies (7) are respectively disposed on both sides of the middle portion (8) of the frame. The floating bodies (7) are U-shaped structures. Both ends of the floating bodies (7) are respectively connected to two L-shaped fixing plates (24) in the same group. Illuminating lamps (17) are respectively disposed on both sides of the top surface of the frame head (15). The first handle (14) is placed at the other end of the frame head (15). Preferably, the first handle (14) has anti-slip grooves. The driving assembly is composed of a body (30), a frame rod (32), a second motor (37), a waterproof housing (38), a first rotating shaft (10), a flying fan blade (11), a protective net (5), a ring (16), an air guide hole (9), a camera (35) and a speaker (34). The frame (33) is placed on the top surface of the body (30); the body (30) is a hollow structure; the length of the body (30) is smaller than the length of the frame (33); the width of the body (30) is smaller than the width of the frame (33); The frame wings (6) are respectively provided with air guide holes (9). The top surfaces of the frame wings (6) are respectively provided with circular rings (16), and the inner side edges of the circular rings (16) are connected to the edge of one end of the air guide through hole (9). A protective net (5) is disposed on the inner side of the circular ring (16), and an edge of the protective net (5) is connected to an edge of the inner side of the circular ring (16). One end of a frame rod (32) is disposed at each of the four corners of the machine body (30), and the other end of the frame rod (32) is located directly below the other end of the air guide hole (9). The waterproof housing (38) is embedded in a through hole opened on the top surface of the other end of the frame rod (32). The second motor (37) is placed in the waterproof housing (38). One end of the first rotating shaft (10) passes through a through hole opened on the top surface of the waterproof housing (38) and is connected to the motor shaft of the second motor (37). The middle portion of the flying blade (11) is sleeved onto the other end of the first rotating shaft (10) through the through hole. A camera (35) is disposed at one end of the body (30), the camera (35) is close to the first handle (14), and a pressure sensor is disposed on the first handle (14). A speaker (34) is disposed at one end of the machine body (30). The pull rope (4) assembly is composed of a limit plate (1), a limit column (2), a support platform (3), a pull rope (4), a first motor (21), a second rotating shaft (22), an electric telescopic rod (26), and an L-shaped rope limit plate (27). The supporting platform (3) is a U-shaped structure. A limiting column (2) is disposed on the top surface of one side of the support platform (3), and a first motor (21) is disposed on the top surface of the other side of the support platform (3). Two limit plates (1) are located between the limit column (2) and the first motor (21), wherein one of the limit plates (1) is connected to the limit column (2), and the other limit plate (1) is connected to the first motor (21). One end of the second rotating shaft (22) is placed in the middle of one of the limiting plates (1) via a bearing, and the other end of the second rotating shaft (22) passes through a through hole opened in the middle of the other limiting plate (1) and is connected to the motor shaft of the first motor (21), and a bearing is placed between the second rotating shaft and the other limiting plate (1). One end of the pull rope (4) is wound around a side surface of the second rotating shaft (22). One end of an L-shaped rope limiting plate (27) is placed at the other end of the machine body (30), and the L-shaped rope limiting plate (27) is close to the frame tail (25). One end of the electric telescopic rod (26) is placed at the other end of the machine body (30) and is located above the L-shaped rope limiting plate (27). The other end of the electric telescopic rod (26) is in contact with the side surface of the other end of the L-shaped rope limiting plate (27). The other end of the pull rope (4) is sleeved on the other end side of the L-shaped rope limiting plate (27). The storage assembly is composed of a limit plate (20), a rectangular opening (19) and a box body (18). The box body (18) is placed in the middle of the top surface of the frame (33), and the box body (18) is a structure with an open top surface. Limiting plates (20) are respectively disposed on both sides of the top surface of the box body (18), and both ends and one side of the limiting plates (20) are respectively connected to the edges of the top surface of the box body (18). A rectangular opening (19) is provided between the other sides of the two limiting plates (20). The sliding assembly is composed of a slide plate (28), snow removal saw teeth (29), a slide plate groove (39), a second screw (40), a third rotating shaft (36), a magnet (12), a pad cloth (13) and an iron sheet (31). The slide plate (28) comprises four parts, namely, two vertical slide plates (28) and two horizontal slide plates (28). Two horizontal slide plates (28) are arranged between the two vertical slide plates (28). The bottom surfaces of the two transverse slide plates (28) correspond to the slide plate grooves (39). A plurality of second screws (40) are equidistantly arranged in the slide plate groove (39), and the transverse slide plate (28) is detachably arranged at two ends of the bottom surface of the machine body (30) by means of the plurality of second screws (40). The length of the transverse sliding plate (28) is greater than the width of the machine body (30). The side surface of the transverse slide plate (28) is provided with snow-removing saw teeth (29), the snow-removing saw teeth (29) are triangular prism structures, and the edges face the frame tail (25). Preferably, there are a plurality of snow-removing saw teeth (29), and the plurality of snow-removing saw teeth (29) are arranged at equal distances along the side of the transverse sliding plate (28). The two ends of the third rotating shaft (36) are respectively placed on the sides of the two vertical slide plates (28) through bearings, and the third rotating shaft (36) is close to the frame head (15). One end of the pad cloth (13) is placed on the side of the third rotating shaft (36), and a magnet (12) is placed on the top surface of the other end of the pad cloth (13). An iron sheet (31) is disposed on the bottom surface of the pad cloth (13), and the iron sheet (31) corresponds to the magnet (12). Preferably, the pad (13) is made of a buoyant body (7) having a density less than that of water. Preferably, the ice rescue drone further comprises a control system, which comprises a monitoring background, a signal converter, a data processor and a controller. The signal converter is placed on the supporting platform (3), the data processor is placed on the supporting platform (3), and the controller is placed on the supporting platform (3). The camera (35) and the pressure sensor are connected to the signal converter via a data line. The electric telescopic rod (26), the lighting lamp (17), the speaker (34), the first motor (21), the second motor (37), the cylinder (43) and the telescopic rod (44) are respectively connected to the controller via a data transmission line. The controller and the monitoring background establish signal interaction, The signal converter is connected to the data processor via a data transmission line, and the data processor is connected to the controller via a data transmission line. The signal converter is capable of converting the electrical signal of the image data collected by the camera (35) into a digital signal. The controller can be implemented by one or at least two application-specific integrated circuits (ASICs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components for executing instructions of the data processing device. The data processor and the signal converter perform information exchange, When the control system is executed, the following steps are mainly implemented: The support platform (3) is installed on a river bank, and the pad cloth (13) is stored on the bottom surface of the machine body (30) by the adsorption force of the magnet (12) and the iron sheet (31). When the monitoring background receives an alarm call indicating that someone has fallen into the water, the position of the person who has fallen into the water and the distance to the support platform (3) are determined, and a flight route for the outbound trip and a glide route for the return trip are set for the machine body (30). The control controller starts the first motor (21) and the second motor (37), and the first motor (21) drives the second rotating shaft (22) to rotate, the second rotating shaft (22) drives the pull rope (4) to rotate, the second motor (37) drives the first rotating shaft (10) to rotate, the first rotating shaft (10) drives the flying blades to rotate, and the flying blades ( 11) drives the body (30) and the pull rope (4) to fly to the position where the person falls into the water according to the preset outbound flight route, the camera (35) collects image data of the ice surface, and sends the collected image data signal to the signal converter, the signal converter converts the electrical signal of the received image data signal into a digital signal and sends it to the data processor, the data processor processes the digital signal of the received image data, identifies the brightness value in the image data, and when the brightness value of the image is lower than the preset brightness value, sends an execution instruction to the controller, the controller controls the lighting lamp (17) to start, and when the body (30) approaches the water surface position where the person falls into the water, the controller controls the first motor ( 21) and the second motor (37) are stopped, the horn (34) is started, the machine body (30) floats on the water surface through the floats (7) on both sides, the monitoring background reminds the person who falls into the water to grab the first handle (14), open and climb onto the mat (13) through the horn (34), when there are multiple people who fall into the water, after a person who falls into the water grabs the first handle (14), he can take out the life-saving equipment such as the life-saving ball and the life-saving buoy stored in the box (18) and throw them to other people who fall into the water to provide support for them, the pressure sensor collects the pressure data on the first handle (14), sends the collected pressure data signal to the signal converter, and the signal converter converts the received pressure data signal into an electrical signal The pressure data is converted into a digital signal and sent to a data processor. The data processor processes the digital signal of the received pressure data. When the pressure data is greater than the preset pressure data, it indicates that the person who has fallen into the water has grasped the first handle (14). The controller sends an execution instruction. The controller controls the first motor (21) to start. The first motor (21) drives the second rotating shaft (22) to rotate. The second rotating shaft (22) drives the pull rope (4) to rotate. The pull rope (4) drives the body (30) to slide along a preset return route. The sliding force of the slide plate (28) and the pad (13) on the ice surface and the pulling force of the pull rope (4) drive the person who has fallen into the water to return to the support platform (3), thereby completing the rescue of the person who has fallen into the water. Example 2

[0017] The difference between this embodiment and embodiment 1 is that a second handle (41) is arranged on the side of the floating body (7), and there are two second handles (41), and the two second handles (41) correspond to the floating body (7) one by one. When in use, a person who falls into the water can obtain support by grasping the second handle (41) and climb onto the ice surface, or can return to the support platform (3) driven by the body (30) through the sliding force on the ice surface and the pulling force of the pull rope (4) to obtain rescue. The second handle (41) cooperates with the first handle (14), so that the drone can rescue multiple people who fall into the water at the same time, and the rescue efficiency is higher. Example 3

[0018] The difference between this embodiment and embodiment 1 is that: the vertical sliding plate (28) is replaced by a wide sliding plate (42), and the width of the wide sliding plate (42) is greater than the width of the vertical sliding plate (28); when in use, the contact area between the wide sliding plate (42) and the ice surface is larger, thereby improving the gliding stability of the drone during the return journey and reducing the possibility of the drone sliding back and forth or tipping over due to the slippery ice surface, causing injuries to people falling into the water and damage to the drone; The first handle (14) is provided with anti-slip grooves, which can effectively increase the gripping force between the person who falls into the water and the first handle (14), ensuring that the person who falls into the water firmly grasps the first handle (14), thereby reducing the risk of falling into the water again and the risk of falling from the mat (13) onto the ice surface during the sliding process of returning to the support platform (3); One end of the electric telescopic rod (26) is placed at the other end of the body (30) and is located above the L-shaped rope limiting plate (27). The other end of the electric telescopic rod (26) is in contact with the side surface of the other end of the L-shaped rope limiting plate (27). The other end of the pull rope (4) is sleeved on the side surface of the other end of the L-shaped rope limiting plate (27). When the drone performs ice rescue, the other end of the pull rope (4) is limited by the squeezing force between the electric telescopic rod (26) and the L-shaped rope limiting plate (27), so that the other end of the pull rope (4) is tightly fixed on the L-shaped rope limiting plate (27), thereby reducing the sliding of the other end of the pull rope (4) on the L-shaped rope limiting plate (27) and preventing the other end of the pull rope (4) from falling off the L-shaped rope limiting plate (27). There are a plurality of snow-removing saw teeth (29), and the plurality of snow-removing saw teeth (29) are arranged equidistantly along the side of the transverse sliding plate (28). When the machine body (30) slides on the ice surface via the sliding plate (28) to return to the support platform (3), there may be broken ice on the ice surface. When the transverse sliding plate (28) slides forward, the snow-removing saw teeth (29) can clear the broken ice, thereby reducing sliding resistance, so that the machine body (30) can drive the person who falls into the water to quickly return to the support platform (3), thereby improving the rescue efficiency. The pad (13) is designed to be made of a light floating body (7) with a density less than that of water, and can float on the water surface when the machine body (30) falls on the water surface to rescue a person who has fallen into the water, thereby increasing the buoyancy of the machine body (30) and providing support for the person who has fallen into the water, thereby improving the rescue efficiency; in the process of moving the person who has fallen into the water to the support platform (3), the pad (13) can prevent the person who has fallen into the water from being injured by the braking force generated by direct contact between the body of the person who has fallen into the water and the ice surface; The design of the storage component can store life-saving equipment such as life-saving balls and life buoys in advance in the box (18). When there are many people in the water and the drone cannot rescue them at the same time, it can provide effective support for other people in the water, thereby minimizing casualties; The driving assembly, the pull rope (4) assembly and the sliding assembly are designed to cooperate with each other. When a person who falls into the water contacts the first handle (14), the pulling force of the pull rope (4) driven by the first motor (21) and the sliding force of the slide plate (28) driven by the second motor (37) are used. The dual power can quickly move the person who falls into the water to the position of the support platform (3), thereby improving the rescue efficiency.

[0019] The purpose of the drone for ice rescue is achieved by being able to drive the drone to fly to the location where the person fell into the water through the driving component, and to drive the person who fell into the water back to the support platform (3) through the pull rope (4) component and the sliding component.

[0020] After considering the specification and practicing the invention disclosed herein, those skilled in the art will easily think of other similar embodiments of the present invention. This application is intended to cover any modified uses or adaptive changes of the present invention. These modifications or uses, applicability changes follow the general principles of the present invention and include common knowledge or customary technical means in the technical field that are not disclosed in the present invention.

[0021] It should be noted that, for the sake of simplicity, the specific implementation mode of the present invention describes the data processing process of the controller as a series of action combinations. However, those skilled in the art should know that the present invention is not limited to the described actions, because according to the present invention, certain steps can be performed sequentially or simultaneously. Secondly, those skilled in the art should also know that the actions described and involved in the specification are not necessarily required by the present invention. The described contents are only preferred implementation cases of the present invention and cannot be considered to limit the scope of implementation of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation modes and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A cone-insertion braking and deceleration structure for an ice rescue drone, characterized by: The invention is composed of a machine body, a slide plate, a second screw, a slide plate groove, a frame, a frame head, a frame tail, a frame middle, a cylinder, a telescopic rod, a circular plate and a brake cone. The frame includes three parts: a frame head, a frame tail and a frame middle. The two ends of the frame middle are respectively provided with one end of the frame head and one end of the frame tail. The frame is placed on the top surface of the machine body. The length of the machine body is less than the length of the frame. The width of the machine body is less than the width of the frame. The machine body is a hollow structure. The slide plate includes four parts: two vertical slide plates and two horizontal slide plates. Two horizontal slide plates are arranged between the two vertical slide plates. The bottom surfaces of the two transverse slides correspond to second screws respectively, and a plurality of second screws are equidistantly arranged in the slide groove. The transverse slide is detachably placed at both ends of the bottom surface of the body through the plurality of second screws. The length of the transverse slide is greater than the width of the body. Cylinders are respectively arranged on both sides of the bottom surface of the middle part of the frame, and the cylinder is located between the two transverse slides. The cylinder is located between the side surface of the body and the vertical slide. One end of the telescopic rod is slidably placed in the cylinder, and the other end of the telescopic rod is placed on the top surface of the circular plate. A brake cone is arranged on the bottom surface of the circular plate.

2. The cone-insertion braking and deceleration structure of an ice rescue drone according to claim 1 is characterized in that A brake pad is arranged between the bottom surface of the circular plate and one end of the brake cone, and the edge of the brake pad is connected to the edge of the bottom surface of the circular plate.

3. The cone-insertion braking and deceleration structure of an ice rescue drone according to claim 1 is characterized in that The brake cone is replaced with a rubber brake pattern. The bottom surface of the circular plate is provided with a rubber brake pattern. The rubber brake pattern is a structure with multiple bends from one end to the other end. There are multiple rubber brake patterns. The multiple rubber brake patterns are arranged equidistantly radially along the bottom surface of the circular plate. The lengths of the multiple rubber brake patterns gradually decrease from the center of the bottom surface of the circular plate to the edge.

4. The cone-insertion braking and deceleration structure for ice rescue drone according to claim 1 is characterized in that The outer diameter of the circular plate is smaller than the distance between the side of the body and the vertical sliding plate. The outer diameter of the brake cone gradually decreases from one end connected to the bottom surface of the circular plate to the other end. The brake cone has a spiral structure, which can increase the contact area between the brake cone and the ice surface, generate greater braking force, and have a better deceleration effect on the drone.

5. The cone-insertion braking and deceleration structure for ice rescue drone according to claim 4 is characterized in that There are multiple groups of brake cones, which are arranged at unequal distances in the radial direction along the bottom surface of the circular plate. Each group has multiple brake cones, which are arranged at equal distances in the circumferential direction along the bottom surface of the circular plate.

6. The cone-insertion braking and deceleration structure of an ice rescue drone according to claim 5 is characterized in that The density of the brake cones near the center of the circular plate is greater than the density of the brake cones near the edge of the circular plate. The lengths of the multiple brake cones in each group are the same, and the lengths of the multiple groups of brake cones gradually decrease from the center to the edge of the circular plate. During the deceleration of the UAV, the high-density and long brake cones in the central area have a larger contact area with the ice surface, which can generate a greater braking force and quickly reduce the speed of the UAV. The braking force generated by the low-density and short brake cones in the edge area gradually decreases, which can reduce the shaking or deviation of the UAV caused by uneven distribution of braking force, and help the UAV maintain a smooth gliding trajectory during deceleration.

7. The cone-insertion braking and deceleration structure for ice rescue drone according to claim 6 is characterized in that Brake teeth are evenly arranged on the side of the brake cone, and the width of the brake teeth gradually decreases from one side connected to the side of the brake cone to the other side. The brake teeth cooperate with the brake cone to increase the contact area between the brake cone and the ice surface, thereby generating a greater braking force and having a better deceleration effect on the drone; the width of the brake teeth gradually decreases from one side to the other side, which can reduce the impact force, reduce the wear of the brake teeth, and extend the service life of the brake cone.

8. The cone-insertion braking and deceleration structure for ice rescue drone according to claim 7 is characterized in that The brake teeth are made of rubber material, and the thickness of the brake teeth gradually decreases from one end to the other end. One end of the brake teeth is close to the circular plate, and the other end is far away from the circular plate. It can play a buffering role in the process of the brake cone contacting the ice surface, reduce the hard impact force on the brake cone, reduce the wear of the brake cone, and at the same time improve the adhesion firmness between the brake cone and the ice surface, thereby improving the deceleration effect; the brake teeth extend in an arc shape from one end to the other end, which can increase the contact area between the brake teeth and the ice surface, improve the braking force of the brake cone, and enable the drone to decelerate more effectively. At the same time, it can deform when subjected to impact force and absorb part of the impact energy, thereby protecting the brake cone from damage.

9. The cone-insertion braking and deceleration structure for ice rescue drone according to claim 1 is characterized in that The side surface of the other end of the telescopic rod corresponds to one end of the first connecting rod vertically placed, the other end of the first connecting rod is vertically placed on the side surface of one end of the second connecting rod, and the other end of the second connecting rod is placed on the top surface of the auxiliary circular plate, the height of one end of the second connecting rod is greater than the height of the other end of the second connecting rod, and the first connecting rod is parallel to the vertical sliding plate, and a plurality of auxiliary brake cones are evenly placed on the bottom surface of the auxiliary circular plate, and the auxiliary circular plate and the circular plate have the same height; when the drone needs to decelerate, the telescopic rod extends, which can drive the brake cones on the circular plate and the brake cones on the auxiliary circular plate to be inserted into the ice surface at the same time, and the contact area with the ice surface is larger, the braking force generated is greater, and the deceleration effect on the drone is better.

10. The cone-insertion braking and deceleration structure for ice rescue drone according to claim 1 is characterized in that The ice rescue drone described is composed of a flight component, a drive component, a pull rope component, a storage component and a sliding component. The flight component is composed of a frame, a frame head, a frame tail, a frame middle, a frame wing, a float, a first screw, an L-shaped fixing plate, a lighting lamp and a first handle. The frame includes three parts: a frame head, a frame tail and a frame middle. The two ends of the middle of the frame are respectively corresponding to one end of the frame head and one end of the frame tail. The frame is a hollow structure, and the edge of the frame is an arc-shaped inwardly concave structure. The four corners of the frame are respectively corresponding to the frame wings. The frame wings are arc-shaped structures. A group of L-shaped fixing plates are respectively corresponding to the two sides of the middle of the frame. There are two L-shaped fixing plates in each group, and the L-shaped fixing plates in the same group The two L-shaped fixing plates are respectively placed on the top surface and the bottom surface of the middle part of the frame through a plurality of first screws, and floating bodies are respectively placed on both sides of the middle part of the frame, and the floating body is a U-shaped structure, and the two ends of the floating body are respectively connected to the two L-shaped fixing plates in the same group, and lighting lamps are respectively placed on both sides of the top surface of the frame head, and a first handle is placed at the other end of the frame head, and the first handle has anti-slip grooves, and the driving assembly consists of a body, a frame rod, a second motor, a waterproof shell, a first rotating shaft, a flying fan blade, a protective net, a ring, an air guide perforation, a camera and a speaker, and the frame is placed on the top surface of the body, and the body is a hollow structure, the length of the body is less than the length of the frame, and the width of the body is less than The width of the frame, the frame wings are respectively provided with air guide holes, the top surfaces of the frame wings are respectively provided with circular rings, the inner side edge of the circular ring is connected to the edge of one end of the air guide hole, the inner side of the circular ring is provided with a protective net, the edge of the protective net is connected to the inner side edge of the circular ring, the four corners of the body are respectively provided with one end of a frame rod, the other end of the frame rod is located directly below the other end of the air guide hole, the waterproof shell is embedded in the through hole opened on the top surface of the other end of the frame rod, the second motor is placed in the waterproof shell, one end of the first rotating shaft passes through the through hole opened on the top surface of the waterproof shell and is connected to the motor shaft of the second motor, and the middle part of the flight fan blade is placed through the through hole sleeve The other end of the first rotating shaft, one end of the body is provided with a camera, the camera is close to the first handle, the first handle is provided with a pressure sensor, one end of the body is provided with a speaker, the pull rope assembly is composed of a limit plate, a limit column, a support platform, a pull rope, a first motor, a second rotating shaft, an electric telescopic rod and an L-shaped rope limit plate, the support platform is a U-shaped structure, a limit column is provided on the top surface of one side of the support platform, and a first motor is provided on the top surface of the other side of the support platform, two limit plates are located between the limit column and the first motor, one of the limit plates is connected to the limit column, and the other limit plate is connected to the first motor, and one end of the second rotating shaft is placed in the middle of one of the limit plates through a bearing,The other end of the second rotating shaft passes through a through hole opened in the middle of the other limiting plate and is connected to the motor shaft of the first motor, and a bearing is placed between the other limiting plate, one end of the pull rope is wrapped around the side of the second rotating shaft, one end of the L-shaped rope limiting plate is placed on the other end of the body, the L-shaped rope limiting plate is close to the tail of the frame, one end of the electric telescopic rod is placed on the other end of the body, and is located above the L-shaped rope limiting plate, the other end of the electric telescopic rod is in contact with the side of the other end of the L-shaped rope limiting plate, the other end of the pull rope is placed on the side of the other end of the L-shaped rope limiting plate, the storage assembly is composed of a limiting plate, a rectangular opening and a box body, the box body is placed in the middle of the top surface of the frame, and the box body is a top surface opening The structure of the opening, the two sides of the top surface of the box body are respectively provided with limit plates, the two ends and one side of the limit plates are respectively connected to the edges of the top surface of the box body, and a rectangular opening is arranged between the other sides of the two limit plates, the sliding assembly is composed of a slide plate, snow removal saw teeth, a slide plate groove, a second screw, a third rotating shaft, a magnet, a pad and an iron sheet, the slide plate includes four parts: two vertical slide plates and two horizontal slide plates, two horizontal slide plates are arranged between the two vertical slide plates, the bottom surfaces of the two horizontal slide plates respectively correspond to the slide plate grooves, a plurality of second screws are equidistantly arranged in the slide plate grooves, the horizontal slide plate is detachably arranged at the two ends of the bottom surface of the body through the plurality of second screws, the length of the horizontal slide plate is greater than the width of the body, The side of the horizontal slide board is provided with snow-removing saw teeth, and the snow-removing saw teeth are of triangular prism structure, and the edges are toward the tail of the frame. There are multiple snow-removing saw teeth, and the multiple snow-removing saw teeth are arranged equidistantly along the side of the horizontal slide board. The two ends of the third rotating shaft are respectively placed on the sides of the two vertical slide boards through bearings, and the third rotating shaft is close to the head of the frame. One end of the pad cloth is placed on the side of the third rotating shaft, and the top surface of the other end of the pad cloth is provided with a magnet, and the bottom surface of the pad cloth is provided with an iron sheet, and the iron sheet corresponds to the magnet. The pad cloth is made of a light floating material with a density less than that of water. The ice rescue drone also includes a control system, which includes a monitoring background, a signal converter, a data processor and a controller. The signal converter is placed on the support platform, the data processor is placed on the support platform, the controller is placed on the support platform, the camera and the pressure sensor are connected to the signal converter via a data line, the electric telescopic rod, the lighting lamp, the speaker, the first motor, the second motor, and the cylinder are respectively connected to the controller via a data transmission line, the controller and the monitoring background establish signal interaction, the signal converter is connected to the data processor via a data transmission line, the data processor is connected to the controller via a data transmission line, and the signal converter can convert the electrical signal of the image data collected by the camera into a digital signal.The controller can be implemented by one or at least two application-specific integrated circuits (ASICs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components, and is used to execute instructions of a data processing device. The data processor and the signal converter exchange information. When the control system is executed, the following steps are mainly implemented: the support platform is installed on the river bank, and the pad is stored on the bottom of the machine body through the adsorption force of magnets and iron sheets. When the monitoring background receives an alarm call that someone has fallen into the water, the position of the person who has fallen into the water and the distance to the support platform are determined, and the outbound flight is set for the machine body. The first motor drives the second shaft to rotate, the second shaft drives the pull rope to rotate, the second motor drives the first shaft to rotate, the first shaft drives the flying blades to rotate, the flying blades drive the fuselage and the pull rope to fly to the falling position of the person who fell into the water according to the preset outbound flight route, the camera collects image data of the ice surface, and sends the collected image data signal to the signal converter, the signal converter converts the electrical signal of the received image data signal into a digital signal and sends it to the data processor, the data processor processes the digital signal of the received image data and identifies the brightness in the image data. When the brightness value of the image is lower than the preset brightness value, an execution instruction is sent to the controller, and the controller controls the lighting to start. When the machine body is close to the water surface where the person who falls into the water is located, the controller controls the first motor and the second motor to stop, the horn is started, and the machine body floats on the water surface through the floats on both sides. The monitoring background reminds the person who falls into the water to grab the first handle through the horn, open it and climb onto the mat. When there are multiple people who fall into the water, after a person who falls into the water grabs the first handle, he can take out the life-saving equipment such as the life-saving ball and life buoy stored in the box and throw them to other people who fall into the water to provide support for them. The pressure sensor collects the pressure data on the first handle and sends the collected data to the The pressure data signal is sent to the signal converter, which converts the electrical signal of the received pressure data signal into a digital signal and sends it to the data processor. The data processor processes the digital signal of the received pressure data. When the pressure data is greater than the preset pressure data, it indicates that the person who falls into the water has grasped the first handle, and sends an execution instruction to the controller. The controller controls the first motor to start, the first motor drives the second shaft to rotate, the second shaft drives the pull rope to rotate, and the pull rope drives the body to slide along the preset return route. The sliding force of the skateboard and the mat on the ice surface and the pulling force of the pull rope drive the person who falls into the water to return to the support platform, completing the rescue of the person who falls into the water.

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