Ice surface rescue unmanned aerial vehicle supporting and positioning structure and ice surface rescue unmanned aerial vehicle

Abstract

According to the ice surface rescue unmanned aerial vehicle supporting and positioning structure and the ice surface rescue unmanned aerial vehicle, a rotating motor drives a triangular wheel to rotate, so that the unmanned aerial vehicle can rapidly reach the water surface position where a person falling into water is located, and meanwhile slipping and rollover of the unmanned aerial vehicle on the ice surface and deviation of the unmanned aerial vehicle from a preset return route are reduced; and the ice surface rescue efficiency is improved through the position adjusting structure. The device is characterized in that the device is composed of a device body, a sliding plate, a sliding plate groove, a second screw, a motor containing groove, triangular wheels, a supporting shell, a fourth rotating shaft and a rotating motor, the sliding plate comprises two vertical sliding plates and two transverse sliding plates, the motor containing groove is formed in the middle of the device body, and the length of the motor containing groove is equal to the width of the device body; the motor containing groove is parallel to the transverse sliding plates and located between the two transverse sliding plates, one ends of supporting shells are correspondingly arranged on the two sides of the bottom of the motor containing groove respectively, and rotating motors are correspondingly arranged on the side faces of the supporting shells respectively.

Description

Technical Field

[0001] The present invention discloses a support and positioning structure for an ice rescue drone and an ice rescue drone, which relate to a positioning structure installed on an ice rescue drone, and belong to the technical field of ice rescue, and particularly to a positioning structure that drives a triangular wheel to rotate through a rotating motor, so that the drone can quickly reach the water surface where a person who falls into the water is located, while reducing the risk of the drone slipping and rolling on the ice and deviating from a preset return route, thereby improving the efficiency of ice rescue. 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 friction of the human body on the ice surface is small, rescuers will slide back and forth on the ice surface. 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-mentioned problems, the applicant filed a Chinese invention patent application entitled "A UAV for Ice Rescue". The UAV lands on the water surface where the person who falls into the water is located through the floats on both sides. The swaying of the person who falls into the water may cause the UAV to move away from the person who falls into the water under the impact of the water flow. The floats on both sides alone cannot enable the UAV to quickly reach the location of the person who falls into the water to rescue him. Moreover, when the sliding force of the skateboard and the mat on the ice surface and the pulling force of the pull rope drive the UAV and the person who falls into the water to return to the supporting platform, the skateboard slides on the uneven ice surface, bounces up and down, and cannot maintain balance, which may cause the UAV to roll over, easily causing further injury to the person who falls into the water, causing the UAV to deviate from the preset return route, and the efficiency of ice rescue is low. Summary of the invention

[0005] In order to improve the above situation, the present invention provides a support and positioning structure for an ice rescue drone and an ice rescue drone, which provide a positioning structure that drives a triangular wheel to rotate through a rotating motor, so that the drone can quickly reach the water surface where the person who fell into the water is located, while reducing the drone's slipping and rollover on the ice surface and deviation from the preset return route, thereby improving the efficiency of ice rescue.

[0006] The present invention provides an ice rescue drone support and positioning structure and an ice rescue drone as follows: The present invention provides an ice rescue drone support and positioning structure comprising a body, a slide plate, a slide plate slot, a second screw, a motor placement slot, a triangular wheel, a support shell, a fourth rotating shaft and a rotating motor. 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, A motor placement slot is provided in the middle of the machine body, the length of the motor placement slot is equal to the width of the machine body, the motor placement slot is parallel to the transverse slide plate, and is located between the two transverse slide plates. One end of the support shell is respectively placed on both sides of the bottom of the motor placement slot. Preferably, the support shell is a hollow structure. Preferably, the other end of the support shell is an arc-shaped structure. Preferably, there are two support shells, and the two support shells are symmetrically placed in the motor placement slot. The rotating motors are respectively arranged on the sides of the supporting shell. One end of the fourth rotating shaft is connected to the motor shaft of the rotating motor, and the other end of the fourth rotating shaft is close to the vertical slide plate. The triangular wheel is placed on the side of the fourth rotating shaft through a through hole in the middle, and the bottom height of the triangular wheel is flush with the vertical slide plate. Preferably, the triangular wheel is a hollow structure. Preferably, the triangular wheel is non-saturatedly filled with fluid. Preferably, the side surface of the triangular wheel is an arc-shaped structure. Preferably, a plurality of spoiler teeth are evenly arranged on the side of the triangular wheel, the width of the spoiler teeth gradually decreases from one side connected to the side of the triangular wheel to the other side, a plurality of vertical grooves are evenly arranged on the other side of the spoiler teeth, the width of the vertical grooves gradually increases from the bottom of the groove to the groove mouth, and the depths of two adjacent vertical grooves are different; Preferably, the spoiler teeth are made of rubber. Preferably, a plurality of ice crushing cones are evenly arranged on the side of the triangular wheel, the outer diameter of the ice crushing cone gradually decreases from one end connected to the side of the triangular wheel to the other end, the ice crushing cone is a spiral structure, and the ice crushing cone and the spoiler teeth are staggered; Furthermore, a rubber strip is disposed on the side of the triangular wheel, and the length of the rubber strip is equal to the thickness of the triangular wheel. Preferably, there are a plurality of rubber strips, and the plurality of rubber strips are arranged equidistantly along the circumferential direction of the side surface of the triangular wheel. Furthermore, a group of snow guards are respectively arranged on both sides of the motor placement slot, and there are two snow guards in each group, and the two snow guards in the same group are respectively arranged close to the triangular wheels; 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. Lights are provided on both sides of the top surface of the frame head. 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, and the rotating motor are connected to the controller via data transmission lines respectively. 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 lifebuoy 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, the pull rope drives the machine body to slide along the preset return route, and 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.

[0007] 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

[0008] 1. By rotating the triangular wheels with a rotating motor, the drone can quickly reach the water surface where the person who fell into the water is located. At the same time, it can reduce the slipping and rollover of the drone on the ice surface and the deviation from the preset return route, thereby improving the efficiency of ice rescue.

[0009] 2. Simple structure, convenient and practical.

[0010] 3. Low cost and easy to promote. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] 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 This is a three-dimensional structural diagram of a support and positioning structure of an ice rescue drone of the present invention; Fig.10 This is a three-dimensional structural diagram of a support and positioning structure of an ice rescue drone of the present invention, in which only the structures of the support shell, the rotating motor and the fourth rotating shaft are shown; Fig.11 It is a three-dimensional structural diagram of Embodiment 2 of a support and positioning structure for an ice rescue drone of the present invention; Fig.12 This is a three-dimensional structural diagram of Example 3 of a support and positioning structure for an ice rescue drone of the present invention. Attached photos

[0012] 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 ring (16), a lighting lamp (17), a box (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), a frame tail (25), an electric A movable telescopic rod (26), an L-shaped rope limiting plate (27), a skateboard (28), a snow removal sawtooth (29), a machine body (30), an iron sheet (31), a frame rod (32), a frame (33), a speaker (34), a camera (35), a third rotating shaft (36), a second motor (37), a waterproof housing (38), a skateboard groove (39), a second screw (40), a second handle (41), a wide skateboard (42), a motor placement groove (43), a triangular wheel (44), a support shell (45), a rotating motor (46), a fourth rotating shaft (47), a rubber strip (48), and a snow shield (49). DETAILED DESCRIPTION Example 1

[0013] The present invention discloses an ice rescue drone support and positioning structure, which comprises a body (30), a slide plate (28), a slide plate groove (39), a second screw (40), a motor placement groove (43), a triangular wheel (44), a support shell (45), a fourth rotating shaft (47) and a rotating motor (46). 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). A motor placement groove (43) is formed in the middle of the machine body (30), the length of the motor placement groove (43) is equal to the width of the machine body (30), the motor placement groove (43) is parallel to the transverse slide plates (28), and is located between the two transverse slide plates (28). One end of the support shell (45) is respectively placed on two sides of the bottom of the motor placement slot (43). Preferably, the support shell (45) is a hollow structure. Preferably, the other end of the support shell (45) is an arc-shaped structure. Preferably, there are two support shells (45), and the two support shells (45) are symmetrically placed in the motor placement slot (43). The rotating motors (46) are respectively disposed on the side surfaces of the supporting shell (45). One end of the fourth rotating shaft (47) is connected to the motor shaft of the rotating motor (46), and the other end of the fourth rotating shaft (47) is close to the vertical slide plate (28). The triangular wheel (44) is sleeved on the side of the fourth rotating shaft (47) through a through hole opened in the middle, and the bottom height of the triangular wheel (44) is flush with the vertical slide plate (28). Preferably, the triangular wheel (44) is a hollow structure. Preferably, the triangular wheel (44) is non-saturatedly filled with fluid. Preferably, the side surface of the triangular wheel (44) is an arc-shaped structure. Preferably, a plurality of spoiler teeth are evenly arranged on the side of the triangular wheel (44), the width of the spoiler teeth gradually decreases from one side connected to the side of the triangular wheel (44) to the other side, a plurality of vertical grooves are equidistantly formed on the other side of the spoiler teeth, the width of the vertical grooves gradually increases from the bottom of the groove to the groove mouth, and the depths of two adjacent vertical grooves are different; Preferably, the spoiler teeth are made of rubber. Preferably, a plurality of ice crushing cones are evenly arranged on the side of the triangular wheel (44), the outer diameter of the ice crushing cone gradually decreases from one end connected to the side of the triangular wheel (44) to the other end, the ice crushing cone is a spiral structure, and the ice crushing cones and the spoiler teeth are staggered; When in use, the position adjustment structure is installed on the ice rescue drone, and the drone lands on the water surface where the person who fell into the water is located through the floats (7) on both sides. When the drone moves away from the person who fell into the water under the impact of the water flow, the controller starts the rotating motor (46), and the rotating motor (46) drives the triangular wheel (44) to rotate, driving the drone to move to the position of the person who fell into the water to rescue the person who fell into the water. In the process of driving the drone and the person who fell into the water to return to the support platform (3), 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) drive the drone and the person who fell into the water to return to the support platform (3). When encountering an uneven ice surface, the slide plate ( When the slide (28) cannot maintain balance by bouncing up and down, the rotating motor (46) is started, and the rotating motor (46) drives the triangular wheel (44) to rotate, thereby increasing the contact area between the UAV and the ice surface, improving the grip, reducing the up and down bouncing of the slide (28) on the ice surface, reducing the rollover of the UAV, and reducing the re-injury of the person who falls into the water; at the same time, when the slide (28) slips on the ice surface and deviates from the preset return route, the rotating motor (46) drives the triangular wheel (44) to rotate at different speeds, generating lateral force, which can readjust the slide (28) and the UAV to the preset return route, thereby improving the efficiency of ice rescue; Example 2

[0014] The difference between this embodiment and embodiment 1 is that: a rubber strip (48) is disposed on the side of the triangular wheel (44); the length of the rubber strip (48) is equal to the thickness of the triangular wheel (44); there are a plurality of rubber strips (48), and the plurality of rubber strips (48) are arranged equidistantly along the circumferential direction of the side of the triangular wheel (44); when in use, the friction between the triangular wheel (44) and the ice surface can be increased, the gripping force can be improved, the up and down bouncing of the skateboard (28) on the ice surface can be reduced, the rollover of the drone can be reduced, and the secondary injury of the person falling into the water can be reduced; the impact and wear caused by direct contact between the triangular wheel (44) and the ice surface can be reduced, and the service life of the triangular wheel (44) can be extended; the triangular wheel (44) can be better adapted to the uneven ice surface, and the contact stability between the triangular wheel (44) and the ice surface can be improved; Example 3

[0015] The difference between this embodiment and embodiment 1 is that: a group of snow guards (49) are respectively arranged on both sides of the motor placement groove (43), each group has two snow guards (49), and the two snow guards (49) in the same group are respectively arranged close to the triangular wheel (44); when in use, when the sliding force of the skateboard (28) and the pad cloth (13) on the ice surface and the pulling force of the pull rope (4) drive the drone and the person who falls into the water to return to the support platform (3), there will be a lot of snow and broken ice on the ice surface, and the snow guards (49) can reduce the impact of the snow and broken ice on the triangular wheel (44), reduce the wear of the triangular wheel (44), and enable the triangular wheel (44) to rotate normally; The support shell (45) is designed as a hollow structure, which can reduce the weight of the support shell (45), reduce the load-bearing capacity of the drone, increase the flight and gliding speed of the drone, and improve the efficiency of ice rescue; The other end of the support shell (45) is designed with an arc-shaped structure, which can reduce the flight and sliding resistance of the UAV, and can better disperse the vibration force generated by the rotating motor (46), reduce stress concentration, and improve the stability of the support shell (45); The triangular wheel (44) is designed as a hollow structure, which can reduce the weight of the triangular wheel (44), reduce the rotation resistance of the triangular wheel (44), reduce the bending or deformation of the triangular wheel (44), and extend the service life of the triangular wheel (44); The side of the triangular wheel (44) is designed with an arc-shaped structure, which can reduce the rotation resistance of the triangular wheel (44), increase the contact area between the triangular wheel (44) and the ice surface, improve the grip, better adapt to the uneven ice surface, effectively reduce the rollover and deviation of the preset route of the drone, reduce the re-injury of the person who falls into the water, and improve the efficiency of ice rescue; The triangular wheel (44) is designed to be non-saturated with a fluid, and the fluid generates rotational inertia when the triangular wheel (44) rotates, thereby improving the rotation performance of the triangular wheel (44), and at the same time, can improve the ability of the triangular wheel (44) to resist water flow impact, so that the triangular wheel (44) can remain stable in a fluctuating water flow; A plurality of spoiler teeth are evenly arranged on the side of the triangular wheel (44), the width of the spoiler teeth gradually decreases from one side of the connection with the side of the triangular wheel (44) to the other side, and a plurality of vertical grooves are equidistantly arranged on the other side of the spoiler teeth, the width of the vertical grooves gradually increases from the bottom of the groove to the groove mouth, and the depths of two adjacent vertical grooves are designed to be different. The spoiler teeth and the vertical grooves can effectively disrupt the water flow around the triangular wheel (44), reduce the resistance of the water flow to the triangular wheel (44), optimize the direction of the water flow, and promote the UAV to quickly reach the falling position of the person who falls into the water; increase the contact area between the triangular wheel (44) and the ice surface, improve the grip, better adapt to the uneven ice surface, effectively reduce the rollover of the UAV and the deviation of the preset route, and reduce the re-injury of the person who falls into the water; when there is broken ice on the water surface or ice surface, the broken ice can be cleaned up, reduce the resistance of the UAV to movement and sliding, and improve the efficiency of ice surface rescue; The spoiler teeth are made of rubber material, and the rubber surface is rough, which can effectively disrupt the water flow around the triangular wheel (44). Rubber has the characteristics of sound absorption and shock absorption, and can effectively reduce the bounce and noise of the drone when it touches the uneven ice surface. A plurality of ice crushing cones are evenly arranged on the side of the triangular wheel (44), the outer diameter of the ice crushing cone gradually decreases from one end connected to the side of the triangular wheel (44) to the other end, the ice crushing cone is a spiral structure, the ice crushing cone and the spoiler teeth are designed to be staggered, and the ice crushing cone cooperates with the snow removal saw teeth (29) to clear the broken ice on the water surface or the ice surface, thereby reducing the movement resistance of the drone on the water surface and the sliding resistance on the ice surface, and improving the efficiency of ice surface rescue; The purpose is to achieve the purpose of being able to drive the triangular wheel (44) to rotate by the rotating motor (46), so that the drone can quickly reach the water surface where the person who fell into the water is located, while reducing the possibility of the drone slipping and rolling on the ice surface and deviating from the preset return route, thereby improving the efficiency of ice rescue.

[0016] It should be noted that the support and positioning structure is only 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), and the second motor (37) 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 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 friction caused 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 support and positioning structure for an ice rescue drone, characterized by: The invention is composed of a body, a skateboard, a skateboard groove, a second screw, a motor placement groove, a triangular wheel, a support shell, a fourth rotating shaft and a rotating motor. The skateboard includes four parts: two vertical skateboards and two horizontal skateboards. Two horizontal skateboards are arranged between the two vertical skateboards. The bottom surfaces of the two horizontal skateboards correspond to the skateboard grooves respectively. A plurality of second screws are arranged equidistantly in the skateboard grooves. The horizontal skateboard 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 skateboard is greater than the width of the body. A motor placement groove is opened in the middle of the body. The length of the motor placement groove is equal to the width of the body. The motor placement groove is parallel to the horizontal skateboard and is located between the two horizontal skateboards. One end of the support shell is respectively arranged on both sides of the groove bottom of the motor placement groove. There are two support shells. The two support shells are symmetrically arranged in the motor placement groove. The rotating motors are respectively arranged on the sides of the support shell. One end of the fourth rotating shaft is connected to the motor shaft of the rotating motor. The other end of the fourth rotating shaft is close to the vertical skateboard. The triangular wheel is arranged on the side of the fourth rotating shaft through a through hole sleeve opened in the middle.

2. The support and positioning structure of an ice rescue drone according to claim 1 is characterized in that A rubber strip is arranged on the side of the triangular wheel. The length of the rubber strip is equal to the thickness of the triangular wheel. There are multiple rubber strips, and the multiple rubber strips are arranged equidistantly along the circumferential direction of the side of the triangular wheel.

3. The support and positioning structure of an ice rescue drone according to claim 1 is characterized in that A group of snow guards are respectively arranged on both sides of the motor placement groove, and there are two snow guards in each group. The two snow guards in the same group are respectively close to the triangular wheels.

4. The support and positioning structure for an ice rescue drone according to claim 1 is characterized in that The support shell is a hollow structure, which can reduce the weight of the support shell, reduce the load-bearing capacity of the UAV, increase the flight and gliding speed of the UAV, and improve the efficiency of ice rescue; the other end of the support shell is an arc structure, which can reduce the flight and gliding resistance of the UAV, and can better disperse the vibration force generated by the rotating motor, reduce stress concentration, and improve the stability of the support shell.

5. The support and positioning structure for an ice rescue drone according to claim 1 is characterized in that The bottom height of the triangular wheel is flush with the vertical sliding plate. The triangular wheel is a hollow structure, which can reduce the weight of the triangular wheel, reduce the rotation resistance of the triangular wheel, reduce the bending or deformation of the triangular wheel, and extend the service life of the triangular wheel.

6. The support and positioning structure for an ice rescue drone according to claim 5, characterized in that The triangular wheel is non-saturatedly filled with fluid, and the fluid generates rotational inertia when the triangular wheel rotates to improve the rotation performance of the triangular wheel, and at the same time can improve the triangular wheel's ability to resist water flow impact, so that the triangular wheel can remain stable in fluctuating water flow.

7. The support and positioning structure for an ice rescue drone according to claim 6, characterized in that The side surface of the triangular wheel is an arc-shaped structure, which can reduce the rotational resistance of the triangular wheel, increase the contact area between the triangular wheel and the ice surface, improve the grip, better adapt to the uneven ice surface, effectively reduce the rollover and deviation of the UAV from the preset route, reduce the secondary injury of the people who fall into the water, and improve the efficiency of ice rescue; a plurality of spoiler teeth are evenly arranged on the side surface of the triangular wheel, and the width of the spoiler teeth gradually decreases from one side of the connection with the side surface of the triangular wheel to the other side, and a plurality of vertical grooves are equidistantly provided on the other side of the spoiler teeth, and the width of the vertical grooves gradually increases from the bottom of the groove to the groove mouth, which is relatively stable. The depths of the two adjacent vertical grooves are different; the spoiler teeth and the vertical grooves can effectively disrupt the water flow around the triangular wheel, reduce the resistance of the water flow to the triangular wheel, optimize the direction of the water flow, and promote the UAV to quickly reach the falling position of the person who falls into the water; increase the contact area between the triangular wheel and the ice surface, improve the grip, better adapt to the uneven ice surface, effectively reduce the rollover and deviation of the UAV from the preset route, and reduce the secondary injury of the person who falls into the water; when there is broken ice on the water surface or ice surface, the broken ice can be cleaned up, reducing the resistance of the UAV to movement and sliding, and improving the efficiency of ice rescue.

8. The support and positioning structure for an ice rescue drone according to claim 7, characterized in that The spoiler teeth are made of rubber with a rough surface, which can effectively disrupt the water flow around the triangular wheel. Rubber has the characteristics of sound absorption and shock absorption, which can effectively reduce the bounce and noise of the drone when it touches the uneven ice surface.

9. The support and positioning structure for an ice rescue drone according to claim 8, characterized in that A plurality of ice crushing cones are evenly arranged on the side of the triangular wheel, the outer diameter of the ice crushing cone gradually decreases from one end connected to the side of the triangular wheel to the other end, the ice crushing cone is a spiral structure, and the ice crushing cone and the spoiler teeth are staggered; the ice crushing cone cooperates with the snow-removing serrations to clear the broken ice on the water surface or the ice surface, reduce the movement resistance of the drone on the water surface and the sliding resistance on the ice surface, and improve the efficiency of ice rescue.

10. The support and positioning structure for an ice rescue drone according to claim 1, 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.

Images