All-terrain rescue unmanned aerial vehicle

Abstract

The all-terrain rescue unmanned aerial vehicle comprises a vehicle body and a rescue cabin, the rescue cabin is arranged at the top of the vehicle body, a telescopic supporting rod is arranged between the lower portion of the front end of the rescue cabin and the vehicle body and used for inclining the rescue cabin backwards, the rear portion of the rescue cabin is an entrance and exit and provided with a cabin door, and a basket type stretcher is arranged in the rescue cabin. A telescopic bottom frame is arranged between the basket type stretcher and the interior of the rescue cabin, the basket type stretcher is placed on a movable frame of the telescopic bottom frame, and the telescopic direction of the telescopic bottom frame is arranged in the in-out direction of an exit of the rescue cabin so that the basket type stretcher can stretch out of or retract into the rescue cabin. According to the unmanned aerial vehicle, the extension length of the supporting legs and the angle of the foot plate can be automatically adjusted according to changes of different terrains, it is guaranteed that the unmanned aerial vehicle has good stability and adaptability on the complex terrains, the success rate of rescue tasks is increased, and the rescue efficiency is improved. And the inclined basket type stretcher is convenient for rescuing the wounded.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an all-terrain rescue unmanned aerial vehicle. Background Art

[0002] The technology of unmanned aerial vehicles was initially mainly used in the military field, such as reconnaissance and surveillance missions. With the progress of technology and the reduction of costs, unmanned aerial vehicles have gradually been applied to civilian fields, including agriculture, logistics, surveying and mapping, security, power line inspection, etc. In the field of emergency rescue, unmanned aerial vehicles have become an indispensable tool because they can quickly reach complex terrains and dangerous areas to provide real-time information and material delivery.

[0003] Limitations of existing unmanned aerial vehicles in rescue: Although unmanned aerial vehicles have many advantages in rescue, their application in complex terrains still faces many challenges. Traditional unmanned aerial vehicles mostly have fixed-wing or rotary-wing structures and are difficult to take off, land, and fly stably on rough terrains. For example, in environments such as mountains, forests, and urban ruins, unmanned aerial vehicles are easily affected by factors such as terrain undulations, tree blockages, and building debris, resulting in unstable flight postures and even crash accidents. In addition, the endurance of existing unmanned aerial vehicles is limited, and the batteries need to be frequently replaced or charged during long-term rescue missions, affecting the rescue efficiency.

[0004] Necessity of all-terrain rescue unmanned aerial vehicles: To overcome the limitations of traditional unmanned aerial vehicles in complex terrains, all-terrain rescue unmanned aerial vehicles have emerged. All-terrain rescue unmanned aerial vehicles need to have stronger adaptability and be able to take off, land, and fly stably on various terrains. This includes achieving self-balanced takeoff and landing on uneven ground and being able to flexibly adjust the posture during flight to avoid obstacles. At the same time, all-terrain rescue unmanned aerial vehicles also need to have a longer endurance to meet the requirements of long-term rescue missions. In addition, in order to obtain accurate information in complex rescue environments, all-terrain rescue unmanned aerial vehicles also need to be equipped with advanced sensors and imaging devices, such as infrared thermal imagers, high-definition cameras, lidar, etc., to realize functions such as real-time monitoring of the disaster area, disaster situation assessment, personnel search and rescue, and positioning.

[0005] Deficiencies of existing all-terrain unmanned aerial vehicle technologies: At present, although there have been some related researches and patent applications on all-terrain unmanned aerial vehicles, their technologies still have some deficiencies. For example, some all-terrain unmanned aerial vehicles are too complex in design, resulting in high manufacturing costs and being not conducive to large-scale popularization and application. In addition, the control systems of some all-terrain unmanned aerial vehicles are not perfect enough, and their autonomous decision-making and response capabilities need to be improved when facing complex terrains and emergencies. Moreover, there are also certain problems with the signal transmission stability of the communication systems of existing all-terrain unmanned aerial vehicles in complex environments, which may affect the information transmission between the unmanned aerial vehicle and the ground control center, thus affecting the smooth progress of the rescue mission. Summary of the Invention

[0006] To overcome the above-mentioned deficiencies, the inventors of the present invention have, through long-term exploration and attempts, as well as multiple experiments and efforts, continuously reformed and innovated, and proposed an all-terrain rescue drone. Through four sets of arm leg mechanisms with adjustable length and angle and two sets of stretcher telescopic legs with adjustable length and angle, the present invention can automatically adjust the extension length of the legs and the angle of the foot plates according to the changes in different terrains, thereby ensuring good stability and adaptability of the drone on complex terrains and improving the success rate of rescue missions.

[0007] The technical solution adopted by the present invention to achieve the above object is: to provide an all-terrain rescue drone. It includes a fuselage and a rescue cabin. The rescue cabin is arranged on the top of the fuselage. A telescopic support rod is arranged between the lower part of the front end of the rescue cabin and the fuselage to tilt the rescue cabin backward. The rear part of the rescue cabin is an inlet and outlet and is provided with a hatch. A basket stretcher is arranged in the rescue cabin. A telescopic bottom frame is arranged between the basket stretcher and the interior of the rescue cabin. The basket stretcher is placed on the moving frame of the telescopic bottom frame. The telescopic direction of the telescopic bottom frame is set along the inlet and outlet direction of the rescue cabin outlet to extend or retract the basket stretcher from the rescue cabin. The moving frame near one side of the rescue cabin outlet is rotatably connected to a stretcher telescopic leg for ground support after the stretcher is extended out of the rescue cabin.

[0008] According to an all-terrain rescue drone of the present invention, a further preferred technical solution is: the telescopic bottom frame includes a moving frame and telescopic arms. The telescopic arms are respectively connected to the moving frame and the inner wall of the rescue cabin. A positioning block is arranged on the moving frame, and a positioning groove corresponding to the positioning block is arranged at the bottom of the basket stretcher for positioning the basket stretcher and fixing it during telescoping.

[0009] According to an all-terrain rescue drone of the present invention, a further preferred technical solution is: the end of the moving frame of the telescopic bottom frame near one side of the rescue cabin outlet is connected with a rotating device, and the rotating device is connected to a stretcher telescopic leg. A first universal foot plate is arranged at the lower part of the stretcher telescopic leg.

[0010] According to an all-terrain rescue drone of the present invention, a further preferred technical solution is: the fuselage includes a frame, a blade mechanism, a telescopic leg mechanism, and a landing telescopic leg. The front end of the telescopic leg mechanism is rotatably installed on the frame in the horizontal plane. The upper part of the rear end of the telescopic leg mechanism is installed with a blade mechanism. The frame installs four sets of blade mechanisms through four telescopic leg mechanisms to form a quadcopter. Four telescopic leg mechanisms are respectively arranged at the lower part of the rear end of the telescopic leg mechanism corresponding to the blade mechanisms; the blade mechanism includes a motor and a blade. The motor is sleeved on the rear end of the telescopic leg mechanism, and the motor is connected to the blade; the landing telescopic leg includes a telescopic leg and a second universal foot plate. The telescopic leg is installed vertically downward, and the second universal foot plate is installed at the lowermost end; navigation lights are arranged on the outer side of the end of the telescopic leg mechanism.

[0011] A full - terrain rescue drone according to the present invention, a further preferred technical solution is: the upper part of the frame is in a groove shape, a rescue cabin is arranged in the groove, an airbag is arranged between the groove of the frame and the rescue cabin, and a popping device is arranged between the rescue cabin and the frame. The popping device includes a base and a strong strut. The base is installed on the frame, and the strong strut is installed in the base and contacts the rescue cabin. The escape system is composed of the popping device and the airbag. The popping device, the airbag are electrically connected to the main control box. After the main control box detects that the drone is out of control, it controls the strong strut of the popping device to pop out, and the rescue cabin is forced to separate from the fuselage main body.

[0012] A full - terrain rescue drone according to the present invention, a further preferred technical solution is: the body is provided with a bottom cabin, in which a first battery compartment, a second battery compartment, and a main control box are arranged. An air intake of a fresh air subsystem and an environment detection system are arranged at the bottom of the cabin. The environment detection system includes a lidar, a smoke detector, a camera, and a supporting pan - tilt head.

[0013] A full - terrain rescue drone according to the present invention, a further preferred technical solution is: an oxygen cylinder, an air - conditioning compressor, a rescue supply cabin, a ventilation device, and an air - conditioning air outlet are provided in the rescue cabin as supporting facilities.

[0014] A full - terrain rescue drone according to the present invention, a further preferred technical solution is: a ventilation device is arranged at the top of the rescue cabin for continuously exhausting gas outwards, and a positive - pressure space is formed inside the cabin.

[0015] A full - terrain rescue drone according to the present invention, a further preferred technical solution is: the rescue cabin has a positive - pressure system, which includes an oxygen cylinder, an air - conditioning subsystem, and a fresh air subsystem. The oxygen cylinder is used to supply oxygen to the rescue cabin, the air - conditioning subsystem controls the temperature, and the fresh air subsystem is used for fresh air input and positive - pressure formation.

[0016] A full - terrain rescue drone according to the present invention, a further preferred technical solution is: the main control box is used to receive data from the environment detection system and control the operation of the telescopic support rod, the telescopic chassis, the rotating device, the stretcher telescopic legs, the blade mechanism, the telescopic leg mechanism, the landing telescopic legs, the escape system, and the positive - pressure system.

[0017] Compared with the prior art, the technical solution of the present invention has the following advantages / beneficial effects: 1. Excellent terrain adaptability: With four groups of arm leg mechanisms whose length and angle are adjustable (composed of telescopic leg mechanisms and landing telescopic legs as a whole) and two groups of stretcher telescopic legs whose length and angle are adjustable, the present invention can automatically adjust the extension length of the legs and the angle of the foot plates according to the changes of different terrains, thus ensuring good stability and adaptability of the UAV on complex terrains and improving the success rate of rescue missions.

[0018] 2. Efficient energy management system: The present invention adopts a dual-battery compartment design, including a main battery compartment and a spare battery compartment. The main battery compartment provides power for the normal flight of the UAV, and the spare battery compartment provides additional power support in case of emergency, ensuring that the UAV can continue to operate in emergency rescue scenarios and avoiding mission interruption due to battery depletion.

[0019] 3. Precise terrain scanning and arm control: The lidar equipped in the bottom compartment can precisely scan the terrain and transmit the information to the main control box through point cloud data for analysis and processing. Based on the terrain data, the main control box can intelligently adjust the extension length of the arm leg mechanism and the angle of the foot plates, further improving the adaptability and maneuverability of the UAV in complex environments.

[0020] 4. Intelligent air quality control system: The coordinated use of the fresh air system and the smoke detector can monitor the smoke concentration in the environment in real time and automatically adjust the switch of the fresh air system intake port to ensure the air quality in the rescue cabin. This design effectively improves the cabin environment for the rescued personnel. Especially when there is smoke or harmful gases at the rescue site, it can effectively protect the health of the rescued people.

[0021] 5. Complete rescue functions and comfort: The rescue cabin is equipped with facilities such as a basket stretcher, an oxygen cylinder, an air-conditioning compressor, a rescue supply cabin, and a ventilation device. The movable stretcher design facilitates the rapid placement of the rescued personnel. The oxygen cylinder and the air-conditioning system provide the necessary life support for the rescue personnel and the rescued, and the ventilation device ensures an adequate supply of fresh air. The configuration of these devices makes the UAV more comprehensive, professional and efficient when performing rescue missions.

[0022] 6. Stable stretcher limiting device: The telescopic arm in the rescue cabin restricts the front-back freedom degree of the basket stretcher, effectively avoiding the front-back displacement and left-right displacement of the stretcher. The positioning blocks on the telescopic bottom frame of the rescue cabin restrict the left-right freedom degree of the basket stretcher, effectively avoiding the left-right displacement of the stretcher, ensuring that the rescued personnel will not be subject to unnecessary injuries or discomfort during flight, and further improving the safety and comfort during the rescue process.

[0023] 7. Perfect warning system and protection mechanism: The ejection device at the bottom of the rescue cabin effectively ensures the complete separation of the rescue cabin from the main body of the fuselage. The airbags on both sides of the rescue cabin completely wrap the sides of the rescue cabin, ensuring the safety of the personnel in the rescue cabin in case of out-of-control situations and minimizing economic losses to the greatest extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 is a schematic structural view of an all-terrain rescue drone of the present invention from an overhead perspective.

[0026] Figure 2 is a schematic structural view of an all-terrain rescue drone of the present invention from a bottom perspective.

[0027] Figure 3 is a schematic structural view of an all-terrain rescue drone of the present invention from a rear perspective when the rescue cabin is tilted and unfolded.

[0028] Figure 4 is a schematic structural view of an all-terrain rescue drone of the present invention from a front perspective when the rescue cabin is tilted and unfolded.

[0029] Figure 5 is a schematic structural view of an all-terrain rescue drone of the present invention after folding.

[0030] Figure 6 is a schematic structural view of the lifting structure of the frame and the rescue cabin of an all-terrain rescue drone of the present invention.

[0031] Figure 7 is an exploded structural view of the basket stretcher of an all-terrain rescue drone of the present invention.

[0032] Figure 8 is a schematic structural view of the frame of an all-terrain rescue drone of the present invention.

[0033] Figure 9 is Figure 8 a partial enlarged view of part A in

[0034] Figure 10 is an installation schematic diagram of the blade mechanism of an all-terrain rescue drone of the present invention.

[0035] Figure 11It is a schematic diagram of the airbag ejection of a full - terrain rescue UAV of the present invention.

[0036] The marks in the figure are respectively: 1. Airframe 11. Frame 12. Blade mechanism 121. Motor 122. Blade 13. Telescopic leg mechanism 14. Landing telescopic leg 141. Telescopic leg 142. Second universal foot disk 15. Bottom compartment 151. First battery compartment 152. Second battery compartment 16. Navigation light 2. Rescue compartment 21. Hatch 3. Escape system 31. Airbag 32. Inflation device 321. Base 322. Strong strut 4. Positive pressure system 41. Oxygen cylinder 42. Air - conditioning subsystem 421. Compressor 422. Air - conditioning air outlet 43. Fresh - air subsystem 431. Fresh - air subsystem air inlet 44. Ventilation device 5. Environment detection system 51. Lidar 52. Smoke detector 53. Camera 531. Pan - tilt head 6. Basket stretcher 61. Telescopic support rod 62. Telescopic chassis 621. Mobile frame 622. Telescopic arm 63. Stretcher telescopic leg 631. Rotation device 632. First universal foot disk 64. Positioning block 7. Main control box. Detailed implementation manners

[0037] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely below. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention. Therefore, the detailed description of the embodiments of the present invention provided below is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention.

[0038] It should be noted that: similar reference numerals and letters denote similar items in the following figures. Therefore, once an item is defined in one figure, it may not be further defined and explained in subsequent figures.

[0039] Example: As Figures 1-11As shown in the figure, an all-terrain rescue drone includes a fuselage 1 and a rescue cabin 2. The rescue cabin 2 is arranged on the top of the fuselage 1. A telescopic support rod 61 is arranged between the lower part of the front end of the rescue cabin 2 and the fuselage 1 to tilt the rescue cabin 2 backward. The rear part of the rescue cabin 2 is an inlet and outlet, and a cabin door 21 is arranged. A basket stretcher 6 is arranged in the rescue cabin 2. A telescopic bottom frame 62 is arranged between the basket stretcher 6 and the interior of the rescue cabin 2. The basket stretcher 6 is placed on a moving frame 621 of the telescopic bottom frame 62. The telescopic direction of the telescopic bottom frame 62 is set along the inlet and outlet direction of the exit of the rescue cabin 2 to extend or retract the basket stretcher 6 into or out of the rescue cabin 2. The moving frame 621 near one side of the exit of the rescue cabin 2 is rotatably connected with a stretcher telescopic leg 63 for ground support after the stretcher is extended out of the rescue cabin 2. The telescopic support rod 61 adopts a four-section structure to be installed in this space. This structure is a simple lifting structure, with both ends respectively located on the frame 11 of the fuselage 1 and the rescue cabin 2. At the same time, it is rotatably installed to realize deflections during lifting, etc., which will not be elaborated here. After reaching the designated rescue location, the telescopic rod of the rescue cabin 2 extends, the rescue cabin 2 tilts, and the basket stretcher 6 is moved to a suitable position through the telescopic bottom frame 62 and locked by the telescopic bottom frame 62, then longitudinal limiting can be carried out. The cabin door 21 can be opened and closed, and the cabin door 21 is used for operations such as taking out and putting in the basket stretcher 6.

[0040] As Figure 7 and Figure 8 shown in the figure, the telescopic bottom frame 62 includes a moving frame 621 and a telescopic arm 622. The telescopic arm 622 is respectively connected to the moving frame 621 and the inner wall of the rescue cabin 2. A positioning block 64 is arranged on the moving frame 621, and a positioning groove corresponding to the positioning block 64 is arranged at the bottom of the basket stretcher 6 for positioning the basket stretcher 6 and fixing it during telescoping, that is, the moving frame 621 moves along with the basket stretcher 6, and the moving frame 621 can move a long distance driven by the telescopic arm 622. Of course, the mechanisms of the moving frame 621 and the telescopic arm 622 are not specifically limited. For example, the moving frame 621 can be a slider and the telescopic arm 622 can be a slide rail or other similar displacement mechanisms.

[0041] As Figure 7As shown, a rotating device 631 is connected to the end of the movable frame 621 of the telescopic chassis 62 near the exit side of the rescue cabin 2. The rotating device 631 is connected to the stretcher telescopic leg 63. A first universal foot disc 632 is provided at the lower part of the stretcher telescopic leg 63. The rotating device 631 is mainly used for the movable frame 621 and the telescopic arm 622 to rotate to adapt to the ground conditions. The rotation angle is controlled by the main control box 7. The main control box 7 sets the relevant parameters for parking according to the scanned ground model. Of course, corresponding pressure sensors and other auxiliary means are also needed to determine that the ground can bear the weight to avoid soft ground that is difficult to bear the weight, etc., which will not be elaborated here. The first universal foot disc 632 is used to provide stable support for the UAV on the ground to prevent it from tipping over. The stretcher telescopic leg 63 in this embodiment adopts a three-section structure, which can achieve a shorter folded form for convenient storage into the rescue cabin 2. The rotation plane of the rotating device 631 is actually parallel to the telescopic surface of the telescopic chassis 62, that is, it is used to adjust the angle between the telescopic chassis 62 and the stretcher telescopic leg 63.

[0042] The aircraft body 1 includes a frame 11, a blade mechanism 12, a telescopic leg mechanism 13, and a landing telescopic leg 14 (the blade mechanism 12, the telescopic leg mechanism 13, and the landing telescopic leg 14 constitute the arm and leg mechanism, that is, it can achieve landing on uneven ground). The front end of the telescopic leg mechanism 13 is rotatably installed on the frame 11 in the horizontal plane. The upper part of the rear end of the telescopic leg mechanism 13 is installed with the blade mechanism 12. The frame 11 installs four groups of blade mechanisms 12 through four telescopic leg mechanisms 13 to form a quadcopter. Four telescopic leg mechanisms 13 are respectively provided at the lower parts of the rear ends of the telescopic leg mechanisms 13 corresponding to the blade mechanisms 12; the blade mechanism 12 includes a motor 121 and a blade 122. The motor 121 is sleeved on the rear end of the telescopic leg mechanism, and the motor 121 is connected to the blade 122; the landing telescopic leg 14 includes a telescopic leg 141 and a second universal foot disc 142. The telescopic leg 141 is installed vertically downward, and the second universal foot disc 142 is installed at the lowermost end; navigation lights 16 are provided on the outer sides of the ends of the telescopic leg mechanisms 13. The telescopic leg mechanism 13 can be telescoped to adjust the length according to the terrain requirements; the second universal foot disc 142 is used to provide stable support for the UAV on the ground to prevent it from tipping over; a certain impact force can be absorbed during the landing process for buffering and shock absorption; it can flexibly adapt to different terrains. The landing telescopic leg 14 can be telescoped to adjust the length according to the terrain requirements. The motor 121 provides power for the blade 122 to drive the blade 122 to rotate and control the flight attitude. The navigation lights 16 are used for the operator or ground personnel to clearly identify the position of the UAV. Especially in a long-distance or dim light environment, it can quickly locate and enhance visibility. The telescopic leg mechanism 13 adopts a two-section structure, and the landing telescopic leg 14 adopts a three-section structure. Of course, the number of sections can be flexibly set to meet the usage requirements.

[0043] As Figure 8As shown, the upper part of the frame 11 is in the shape of a groove. The rescue cabin 2 is placed in this groove. An airbag 31 is arranged between the groove of the frame 11 and the rescue cabin 2, and a popping device 32 is arranged between the rescue cabin 2 and the frame 11. As Figure 9 shown, the popping device 32 includes a base 321 and a strong strut 322. The base 321 is installed on the frame 11, and the strong strut 322 is installed in the base 321 and contacts the rescue cabin 2. The escape system 3 is composed of the popping device 32 and the airbag 31. In the present invention, the groove of the frame 11 is a flat-bottom V shape with horizontal lower parts on both sides of the inclined sides. Therefore, the rescue cabin 2 adopts an octagonal cross-section shape, which can achieve fitting the groove of the frame 11 while the structure of the rescue cabin 2 is relatively beautiful. The space is also relatively regular, and at the same time, the existence of right-angled edges is avoided, which is beneficial for the airbag to wrap the side surface and form Figure 11 the structure shown. At this time, it can be seen that the strong strut 322 has popped out, popping the rescue cabin 2 out of the drone, and then the airbag unfolds to wrap the side surface of the rescue cabin 2 to reduce the impact of falling. In fact, the connection between the rescue cabin 2 and the frame is the telescopic support rod 61 at the rear end and the rotating shaft in front that facilitates the lifting of the rescue cabin 2. The rotating shaft is broken by the popping of the strong strut 322, and the telescopic support rod 61 is unlocked and actively popped by using a locking structure. A physical pull rod can also be set inside the cabin to make it separate, etc. This technology is relatively simple and will not be elaborated here.

[0044] As Figure 2 shown, the aircraft body 1 is provided with a bottom cabin 15. The first battery compartment 151, the second battery compartment 152, and the main control box 7 are arranged in the bottom cabin 15. A lidar 51, a fresh air subsystem air inlet 431, a smoke detector 52, a camera 53, and a supporting cloud platform 531 are arranged outside the bottom cabin 15. The first battery compartment 151 and the second battery compartment 152 on the side of the bottom cabin are used as the main battery compartment and the backup battery compartment respectively, and the main battery and the backup battery are installed respectively. The main battery is used for normal flight, and the backup battery is used in case of emergencies such as power failure in the main battery compartment. The camera 53 and the cloud platform 531 are used for image acquisition, real-time monitoring, angle adjustment, and picture stabilization. The lidar 51 is used for terrain mapping, which can quickly and accurately obtain terrain and landform data; for environmental monitoring, it scans the forest and vegetation coverage, and monitors the vegetation height, density, etc. The smoke detector 52 is used for smoke detection, quickly judging the smoke diffusion range, concentration, etc., and assisting in rescue. The fresh air subsystem 43 is started according to detection or manually to adjust the internal air environment of the drone, continuously update the internal air, and maintain a good internal air state. The position where the fresh air subsystem air inlet 431 is located is where the equipment of the fresh air subsystem is located.

[0045] An oxygen cylinder 41, an air-conditioning compressor 421, a rescue supply compartment, a ventilation device 44, and an air-conditioning air outlet 422 are provided inside the rescue cabin 2. The rescue supply compartment is used to store rescue supplies and rescue tools from small to large. As long as the space has gaps that do not affect the safe use of the unmanned aerial vehicle, supply compartments can be set up. The oxygen cylinder 41 is used for medical first aid. For auxiliary rescue, it can also be used for emergency oxygen supply inside the rescue cabin 2, etc. Additional emergency oxygen cylinders or chemical oxygen supply and other measures can also be set inside the rescue cabin 2 as backup oxygen supply for escape. Of course, other required rescue equipment, etc. can also be configured inside the rescue cabin 2, which can be set as needed and will not be elaborated here. A ventilation device 44 is provided at the top of the rescue cabin 2, which is used to continuously exhaust the harmful gases of the rescue cabin staying on the ground, facilitating the rapid update of the gas inside the cabin to form a slightly positive pressure space and preventing the entry of harmful gases caused by fire. The ventilation device 44 exhausts air outward as needed. When maintaining positive pressure inside the cabin, it can stop working, or a cover plate can be used to seal the channel of the ventilation device 44 to reduce the probability of harmful gases entering the rescue cabin 2.

[0046] Of course, in this embodiment Figure 6 it can be seen that the oxygen cylinder 41 and the compressor 421 of the air-conditioning subsystem 42 are arranged in the grooves on the side of the frame 11, which can facilitate replenishment and form protection. The grooves on the side of the frame 11 can also be used to form a storage space, rescue supply storage, etc., which can be flexibly set and will not be elaborated here.

[0047] The rescue cabin 2 is equipped with a positive pressure system 4, which includes an oxygen cylinder 41, an air conditioning subsystem 42, and a fresh air subsystem 43. The oxygen cylinder 41 is used for supplying oxygen to the wounded during rescue and for emergency oxygen supply to the rescue cabin 2. For example, when it is necessary to pass through an oxygen-deficient area, such as a fire area or other environments where the rescue cabin 2 needs to be sealed and cannot obtain external air, the air conditioning subsystem 42 controls the temperature, and the fresh air subsystem 43 is used for fresh air input and positive pressure formation. The oxygen cylinder 41 is used for emergency oxygen supply. The air conditioning compressor 421 of the air conditioning subsystem 42 adjusts the intensity of refrigeration or heating to reach the set temperature environment, providing a suitable temperature environment for the wounded. The air conditioning air outlet 422 cooperates with the air circulation inside the cabin. The fresh air subsystem 43 provides clean air for the interior of the rescue cabin 2, mainly playing the role of air filtration. It is mainly used in a fire environment with thick smoke in the external air or other similar polluted environments. For other environments with gas poisoning, a targeted fresh air subsystem 43 should be set up. When necessary, the rescue cabin 2 should have the ability to be completely sealed to completely cut off the external environment. In the present invention, for the convenience of the ejection of the rescue cabin 2, the air conditioning subsystem 42 is actually installed on the frame 11. Only by docking the air conditioning air outlet 422 provided on the upper groove of the chassis with the air conditioning air outlet on the rescue cabin 2 can air supply be realized. At the same time, the air conditioning air outlet on the rescue cabin 2 is also used as the air inlet of the fresh air subsystem into the rescue cabin 2. This air outlet is set relatively large, and it can be understood that by partitioning this air outlet, it serves as both the air outlet of the air conditioner and the air outlet of the fresh air. When necessary, the air conditioning air outlet of the rescue cabin 2 can be sealed to maintain the overall sealing of the rescue cabin 2.

[0048] A main control box 7 is provided. The main control box 7 is electrically connected to the telescopic support rod 61, the telescopic chassis 62, the rotating device 631, the stretcher telescopic legs 63, the blade mechanism 12, the telescopic leg mechanism 13, the landing telescopic legs 14, the escape system 3, the positive pressure system 4, and the environment detection system 5. The main control box 7 is used to receive the data of the environment detection system 5 and control the operation of the telescopic support rod 61, the telescopic chassis 62, the rotating device 631, the stretcher telescopic legs 63, the blade mechanism 12, the telescopic leg mechanism 13, the landing telescopic legs 14, the escape system 3, and the positive pressure system 4. The main control box 7 is used for flight attitude regulation, power system management, signal processing and instruction execution, and real-time monitoring of the UAV status to ensure safety.

[0049] Usage method: During emergency rescue, the UAV flies to the designated rescue location. The bottom cabin camera and its pan-tilt head perform visual recognition to determine the position of the rescue personnel. The lidar detects the ground conditions under the all-terrain rescue UAV. The telescopic leg mechanism extends to different lengths so that the nearest landing point can reach the side of the person to be rescued. The rescue cabin door is opened, the rescue cabin tilts through the telescopic support rod, and then the basket stretcher extends through the telescopic chassis. The stretcher telescopic legs extend to different heights to adapt to the uneven ground, forming Figure 5In the shown form, after the person to be rescued is placed on the basket stretcher, the telescopic chassis drives the basket stretcher to reset. The rescue cabin returns to its position, the cabin door closes, and the air-conditioning compressor adjusts the temperature inside the cabin through the air-conditioning air outlet. The oxygen cylinder provides oxygen for the person to be rescued, and the ventilation device updates the air inside the cabin through the fresh air system air inlet in the bottom cabin. The motor drives the propeller to rotate, and the drone takes off. When it arrives at the designated position, the doors of each cabin of the rescue cabin open to release the person to be rescued. After the rescue cabin closes, the drone takes off again for the next rescue. The standby form is as Figure 5 the form, which is convenient for transportation and so on.

[0050] When the drone encounters an emergency, the escape system works. The strong strut of the ejection device pops out, forcing the rescue cabin to separate from the fuselage main body. After the rescue cabin separates from the fuselage main body, the airbags on both sides of the rescue cabin pop open to wrap the rescue cabin and reduce the impact of the fall.

[0051] This drone is mainly used for short-distance rescue in harsh natural environments. It only needs to fly from the dangerous area to the safe area. Therefore, the flight altitude only needs to avoid the obstructive environment, so its flight altitude will not be too high. If high-altitude flight is required, a parachute can be considered to reduce the impact on the rescue cabin.

[0052] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0053] In the present invention, unless otherwise clearly specified and defined, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] In the present invention, unless otherwise clearly specified or limited, the first feature being "above" or "below" the second feature may include direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the horizontal height of the first feature is lower than that of the second feature.

[0055] The above are only the preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be construed as limiting the present invention, and the protection scope of the present invention should be defined by the scope of the claims. For those of ordinary skill in the art, without departing from the spirit and scope of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as within the protection scope of the present invention.

Claims

1. An all-terrain rescue drone, characterized in that: The rescue cabin comprises a body and a rescue cabin, wherein the rescue cabin is arranged on the top of the body, a telescopic support rod is arranged between the lower front end of the rescue cabin and the body for tilting the rescue cabin rearward, the rear of the rescue cabin is an entrance and an exit and is provided with a cabin door, a basket stretcher is arranged in the rescue cabin, a telescopic base frame is arranged between the basket stretcher and the inside of the rescue cabin, the basket stretcher is placed on a moving frame of the telescopic base frame, the telescopic direction of the telescopic base frame is arranged along the entrance and exit direction of the rescue cabin exit for extending or retracting the basket stretcher into the rescue cabin, and the moving frame close to the exit side of the rescue cabin is rotatably connected to the telescopic legs of the stretcher for ground support after the stretcher is extended out of the rescue cabin.

2. The all-terrain rescue drone according to claim 1, characterized in that: The telescopic base frame includes a mobile frame and a telescopic arm, the telescopic arm is respectively connected to the mobile frame and the inner wall of the rescue cabin, a positioning block is arranged on the mobile frame, and a positioning groove corresponding to the positioning block is arranged at the bottom of the basket stretcher for positioning the basket stretcher and fixing it during telescoping.

3. The all-terrain rescue drone according to claim 2, characterized in that: The end of the mobile frame of the telescopic chassis close to the rescue cabin exit is connected with a rotating device, the rotating device is connected with the telescopic legs of the stretcher, and the lower part of the telescopic legs of the stretcher is provided with a first universal foot plate.

4. The all-terrain rescue drone according to claim 1, characterized in that: The body includes a frame, a blade mechanism, a telescopic leg mechanism, and a landing telescopic leg. The front end of the telescopic leg mechanism is rotatably installed with the frame on a horizontal plane, and the blade mechanism is installed on the upper part of the rear end of the telescopic leg mechanism. The frame is equipped with four sets of blade mechanisms through four telescopic leg mechanisms to form a quadcopter. Four telescopic leg mechanisms are respectively arranged at the lower part of the rear end of the telescopic leg mechanism corresponding to the blade mechanism; the blade mechanism includes a motor and blades, and the motor is mounted on the rear end of the telescopic leg mechanism, and the motor is connected to the blades; the landing telescopic leg includes a telescopic leg and a second universal foot plate, the telescopic leg is installed vertically downward, and the second universal foot plate is installed at the lower end; a navigation light is arranged on the outer side of the end of the telescopic leg mechanism.

5. The all-terrain rescue drone according to claim 4, characterized in that: The upper part of the frame is in the shape of a groove, in which a rescue cabin is placed, an airbag is arranged between the frame groove and the rescue cabin, and a pop-up device is arranged between the rescue cabin and the frame, the pop-up device includes a base and a strong support rod, the base is installed on the frame, the strong support rod is installed in the base and in contact with the rescue cabin, the pop-up device and the airbag constitute an escape system, the pop-up device, the airbag are electrically connected to the main control box, after the main control box detects that the drone is out of control, the strong support rod of the pop-up device is controlled to pop out, and the rescue cabin is forced to separate from the fuselage body.

6. An all-terrain rescue drone according to any one of claims 1 or 4, characterized in that: The machine body is provided with a bottom compartment, in which a first battery compartment, a second battery compartment, and a main control box are placed. An air inlet of a fresh air subsystem and an environmental detection system are arranged at the bottom of the compartment. The environmental detection system includes a laser radar, a smoke detector, a camera, and a matching pan-tilt head.

7. The all-terrain rescue drone according to claim 6, characterized in that: The rescue cabin is equipped with an oxygen cylinder, an air-conditioning compressor, a rescue material cabin, a ventilation device, and an air-conditioning outlet.

8. The all-terrain rescue drone according to claim 7, characterized in that: A ventilation device is installed on the top of the rescue capsule to continuously discharge gas to the outside and form a positive pressure space in the capsule.

9. The all-terrain rescue drone according to claim 8, characterized in that: The rescue cabin has a positive pressure system, which includes an oxygen cylinder, an air conditioning subsystem, and a fresh air subsystem. The oxygen cylinder is used to supply oxygen to the rescue cabin, the air conditioning subsystem controls the temperature, and the fresh air subsystem is used for fresh air input and positive pressure formation.

10. The all-terrain rescue drone according to claim 9, characterized in that: A main control box is provided, which is electrically connected to the telescopic support rod, telescopic base, rotating device, telescopic legs of the stretcher, paddle mechanism, telescopic leg mechanism, telescopic legs for landing, escape system, positive pressure system and environmental detection system. The main control box is used to receive data from the environmental detection system to control the operation of the telescopic support rod, telescopic base, rotating device, telescopic legs of the stretcher, paddle mechanism, telescopic leg mechanism, telescopic legs for landing, escape system and positive pressure system.

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