Road safety information monitoring device and method based on unmanned aerial vehicle cruise technology

Abstract

The invention discloses a road safety information monitoring device and method based on an unmanned aerial vehicle cruise technology, and the device comprises a plurality of ground transfer platforms which are distributed at equal intervals and are distributed along the two sides of a cruise road; traffic monitoring rods are erected at the positions, located on the ground transfer platforms, of the two sides of the cruise road, and monitoring probes are installed on the traffic monitoring rods. Each traffic monitoring rod is connected with a ground control station; a plurality of velocimeters are further arranged on the two sides of the cruise road, the velocimeters collect the speed of the special vehicle recognized and positioned in the monitoring probe and transmit the speed information to the ground control station, and the ground control station guides the cruise unmanned aerial vehicle in the ground transfer platform to track and monitor in time at the corresponding initial speed; the multiple ground transfer platforms are distributed on the two sides of the cruising road, each ground transfer platform can be provided with the corresponding cruising unmanned aerial vehicle, the cruising unmanned aerial vehicles can take off at a certain initial speed through the catapult units in a catapult-assisted mode, and cruising can be monitored in time conveniently.

Description

Technical Field

[0001] The present invention belongs to the technical field of highway cruise monitoring, and specifically relates to a road safety information monitoring device and method based on UAV cruise technology. Background Art

[0002] In recent years, highway inspections have mostly been carried out by using patrol vehicles or by using fixed-point cameras for data collection. Conducting inspections with patrol vehicles requires high human and material costs. At the same time, affected by the inspection vision, only the traffic conditions around the patrol vehicles can be inspected, there are blind spots in data collection, and in addition, it may also increase traffic jams; while cruise UAVs have been widely used in more and more fields due to their advantages such as small size, simple structure, and easy control. In the existing highway cruise monitoring, since the cruise UAV takes off from the transfer platform in the middle, its initial speed is zero, it is easy to lose the target vehicle being tracked, and road safety monitoring cannot be carried out in a timely manner; and affected by environmental conditions, the flight difficulty of taking off is further increased, resulting in serious losses such as instability and crashing.

[0003] Therefore, it is necessary to provide a road safety information monitoring device and method based on UAV cruise technology to solve the problems raised in the above background art. Summary of the Invention

[0004] To achieve the above object, the present invention provides the following technical solution: A road safety information monitoring device based on UAV cruise technology, which includes: a plurality of ground transfer platforms that are evenly distributed, and each of the ground transfer platforms is distributed on both sides of the cruise road. The ground transfer platform is used to provide landing support for the cruise UAV; traffic monitoring poles are erected at the positions of each ground transfer platform on both sides of the cruise road, and monitoring probes are installed on the traffic monitoring poles. The monitoring probes monitor the traffic conditions of the vehicles on the cruise road in real time and quickly identify and locate special vehicles;

[0005] Each of the traffic monitoring poles is connected to a ground control station, and the outside of the ground control station is connected to a meteorological monitoring station through wireless communication;

[0006] A plurality of speed measuring instruments are also arranged on both sides of the cruise road. The speed measuring instruments collect the speeds of the special vehicles identified and located in the monitoring probes and transmit the speed information to the ground control station. The ground control station guides the cruise UAV in the ground transfer platform to track and monitor in a timely manner with a corresponding initial speed.

[0007] Further, as a preference, the ground transfer platform includes:

[0008] A pillar, on which a fixed column is coaxially arranged above. The fixed column is rotatably connected to the pillar;

[0009] The gear disc is sleeved on the fixed column, and a driving part is installed on the column. The output end of the driving part is connected and driven with the gear disc through the meshing action of gears;

[0010] The positioning frame is vertically fixed at the upper end of the fixed column;

[0011] The ejection unit is horizontally arranged on one side of the positioning frame, and the ejection unit is used to provide ejection flight power for the cruise UAV;

[0012] The carrier platform is fixed at one end of the ejection unit.

[0013] Further, as a preference, a connecting plate is rotatably connected to the positioning frame, the ejection unit is fixed to the connecting plate, and a control cylinder is installed on the fixed column. One end of the control cylinder is hinged to the connecting plate.

[0014] Further, as a preference, a shielding plate is arranged outside the carrier platform, and a wireless charging transmitting device is arranged inside the carrier platform.

[0015] Further, as a preference, a shielding plate is arranged outside the carrier platform, and a wireless charging transmitting device is arranged inside the carrier platform.

[0016] Further, as a preference, the ejection unit includes:

[0017] The bottom plate, on the upper end face of which two parallel guide frames are symmetrically fixed;

[0018] The runner wheels are rotatably connected to both ends of each of the guide frames, and a transmission belt is connected between the runner wheels on the guide frames;

[0019] The inner wheels are uniformly arranged on the guide frames, and the inner wheels are in rolling contact with the inner side surface of the transmission belt;

[0020] The clamping plates are correspondingly fixed on the two transmission belts, and the two clamping plates cooperate with each other to position and clamp the front drive wheel bracket of the cruise UAV.

[0021] Further, as a preference, a laser sensor is fixed on the bottom plate, and a sensor is fixed on one of the transmission belts.

[0022] Further, as a preference, transmission teeth are fixed on the runner wheels of both of the guide frames, the transmission teeth mesh with each other, an outer fixed seat is installed on the bottom plate, a variable-diameter drive wheel is arranged inside the outer fixed seat, and the variable-diameter drive wheel is connected and driven with one of the transmission teeth through a transmission chain;

[0023] A tensioning wheel is further arranged on the outer fixed seat.

[0024] Further, as a preference, a plurality of ejector rods are slidably arranged on the inner circumference of the variable-diameter driving wheel, and arc plates are fixed to the ends of the ejector rods; a driving shaft is fixedly arranged at the center inside the variable-diameter driving wheel, a driving motor is arranged on the outer fixed seat, and the output end of the driving motor is connected to the driving shaft;

[0025] A shaft tube is slidably connected to the driving shaft, and an inclined ring is fixed to the upper end of the shaft tube; the other ends of the ejector rods are all fixed with inclined blocks, and the inclined blocks are in sliding contact with the outer surface of the inclined ring;

[0026] A collar is slidably connected to the driving shaft, a top ring is rotatably connected to the outside of the collar, a hook rod is rotatably connected to one side of the driving motor, and the end of the hook rod abuts against the top ring;

[0027] A telescopic cylinder is installed on the driving motor, and one end of the telescopic cylinder is hinged to the hook rod;

[0028] The top ring slides up and down along the driving shaft through the collar and contacts the shaft tube, and ball bearings are embedded in the lower end surface of the shaft tube.

[0029] Further, as a preference, a road safety information monitoring method based on UAV cruising technology includes the following steps:

[0030] Step 1: Ground transfer platforms, traffic monitoring poles and speed measuring instruments are respectively arranged on both sides of the cruising road. The distance between adjacent ground transfer platforms is not greater than 100 m, and each ground transfer platform is equipped with a cruising UAV;

[0031] Step 2: The monitoring probes on the traffic monitoring poles timely capture the vehicles in each lane on the cruising road. The vehicle information is timely transmitted to the ground control station. The ground control station analyzes and obtains the special vehicles on the cruising road, and the speed measuring instrument detects the speed of the target vehicle in advance; the ground control station combines the current environmental wind direction conditions to guide the cruising UAV on the ground transfer platform to accompany and cruise for monitoring;

[0032] Step 3: The driving part in the ground transfer platform drives the fixed column to rotate and fine-tune, and at the same time controls the cylinder to expand and contract to enable the ejection unit to reach the specified erection angle. The cruising UAV reaches the conveying end of the ejection unit; the variable-diameter driving wheel drives the rotating wheel on the guide frame to rotate through the transmission chain, so that the clamping plates on the two transmission belts cooperate to clamp the front driving wheel bracket of the cruising UAV. The cruising UAV quickly slides along the bottom plate and completes the ejection flight, and its initial velocity reaches the same as the speed of the target vehicle.

[0033] Step 4: After the accompanying flight of the cruising UAV ends, it reaches the next ground transfer platform and lands on the platform in the ground transfer platform.

[0034] Compared with the prior art, the beneficial effects of the present invention are:

[0035] In the present invention, a plurality of ground transfer platforms are distributed on both sides of the cruise road. Each ground transfer platform can be equipped with a cruise drone. For special vehicles (such as heavy-duty trucks, vans, etc.) on the cruise road, the cruise drone can be ejected into the air with a certain initial velocity in a timely manner through an ejection unit, which facilitates the timely start of monitoring and cruising, reduces the moving distance of the target vehicle during the takeoff process, and improves the continuity and accuracy of tracking. Moreover, the plurality of ground transfer platforms can flexibly dispatch the drones according to actual needs to ensure effective coverage of the entire road section. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a schematic structural diagram of the cruise system of the present invention;

[0037] Figure 2 is a schematic structural diagram of the ground transfer platform in the present invention;

[0038] Figure 3 is a schematic structural diagram of the ejection unit in the present invention;

[0039] Figure 4 is Figure 3 an enlarged schematic diagram of the structure at position A in

[0040] Figure 5 is a schematic internal structure diagram of the outer fixed seat in the present invention;

[0041] Figure 6 is a schematic structural diagram of the variable-diameter drive wheel in the present invention;

[0042] In the figure: 1, cruise drone; 11, traffic monitoring pole; 2, ground transfer platform; 21, pillar; 22, fixed column; 23, positioning frame; 24, gear disk; 25, drive part; 26, carrier; 27, connecting plate; 3, ejection unit; 31, bottom plate; 32, guide frame; 33, runner; 34, inner wheel; 35, inductor; 36, laser sensor; 37, clamping plate; 4, outer fixed seat; 41, transmission tooth; 42, tensioning wheel; 43, transmission chain; 5, variable-diameter drive wheel; 51, ejector rod; 52, drive shaft; 53, shaft tube; 54, inclined ring; 55, telescopic cylinder; 56, collar; 57, top ring; 58, hook rod. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] Please refer to Figures 1-6, in the embodiments of the present invention, a road safety information monitoring device based on the drone cruising technology includes: a plurality of ground transfer platforms 2 which are evenly distributed, and each of the ground transfer platforms 2 is distributed along both sides of the cruising road. The ground transfer platforms 2 are used to provide landing support for the cruising drones 1; traffic monitoring poles 11 are erected at the positions of each ground transfer platform on both sides of the cruising road. Monitoring probes are installed on the traffic monitoring poles 11, and the monitoring probes monitor the traffic conditions of the vehicles on the cruising road in real time and quickly identify and locate special vehicles; among them, special vehicles include heavy trucks, dangerous goods transport vehicles, ambulances, fire trucks, construction vehicles, etc. These special vehicles travel at a relatively slow speed. By monitoring their driving states, it is ensured that timely responses can be made in case of abnormal situations;

[0044] Each of the traffic monitoring poles 11 is connected to the ground control station, and the ground control station is externally connected to the meteorological monitoring station through wireless communication. The meteorological monitoring station can monitor and obtain the meteorological environment of the current cruising road to guide the stable take-off and cruising of the cruising drones subsequently;

[0045] A plurality of speed measuring devices are also arranged on both sides of the cruising road. The speed measuring devices collect the speeds of the special vehicles identified and located in the monitoring probes and transmit the speed information to the ground control station. The ground control station guides the cruising drones in the ground transfer platforms 2 to track and monitor in time with corresponding initial speeds, thus avoiding losing sight of the target vehicle and failing to track and monitor in time.

[0046] In this embodiment, the ground transfer platform 2 includes:

[0047] A support column 21, on which a fixed column 22 is coaxially arranged above, and the fixed column 22 is rotatably connected to the support column 21;

[0048] A gear disk 24 is sleeved on the fixed column 22, and a driving part 25 is installed on the support column 21. The output end of the driving part 25 is connected and driven to the gear disk 24 through the meshing action of gears; so as to drive the fixed column 22 to rotate and adjust;

[0049] A positioning frame 23 is vertically fixed at the upper end of the fixed column 22;

[0050] An ejection unit 3 is horizontally arranged on one side of the positioning frame 23, and the ejection unit 3 is used to provide ejection flying power for the cruising drones 1;

[0051] A carrier platform 26 is fixed at one end of the ejection unit 3. The carrier platform 26 can be used for the landing and bearing of the cruising drones. Among them, the carrier platform 26 can be divided into a temporary parking area and a sending flight area. When the cruising drone enters the sending flight area from the temporary parking area, at this time the cruising drone is ready to take off and cruise, and the ejection unit 3 can quickly eject the cruising drone of the ejection unit 3.

[0052] As a preferred embodiment, a connecting plate 27 is rotatably connected to the positioning frame 23, the ejection unit 3 is fixed to the connecting plate 27, and a control cylinder 28 is installed on the fixed column 22. One end of the control cylinder 28 is hinged to the connecting plate 27, so as to change the horizontal erection angle of the ejection unit 3 under the telescopic adjustment of the control cylinder 28.

[0053] In this embodiment, a shielding plate is arranged outside the carrier 26, and a wireless charging transmitting device is arranged inside the carrier 26. Through efficient wireless charging technology, the UAV can quickly replenish power to ensure long-term cruise monitoring.

[0054] In this embodiment, the ejection unit 3 is parallel to the cruise road or perpendicular to the cruise road during the rotational movement with the fixed column 22. When the fixed column 22 is perpendicular to the cruise road, the cruise UAV correspondingly flies from the ground transfer platform 2 on one side of the cruise road to the ground transfer platform 2 on the other side, so as to realize full coverage monitoring of the cruise section.

[0055] In this embodiment, the ejection unit 3 includes:

[0056] A bottom plate 31, on the upper end surface of which two parallel guide frames 32 are symmetrically fixed;

[0057] Rotating wheels 33, rotatably connected to both ends of each of the guide frames 32, and a transmission belt is connected between the rotating wheels on the guide frames 32;

[0058] Inner wheels 34, evenly arranged on the guide frames 32, and the inner wheels 34 are in rolling contact with the inner side surface of the transmission belt;

[0059] Clamping plates 37, correspondingly fixed on the two transmission belts, and the two clamping plates 37 cooperate with each other to position and clamp the front drive wheel bracket of the cruise UAV 1. Thus, when the rotating wheels 33 rotate to drive the transmission belt, the clamping plates 37 on the transmission belt drive the cruise UAV to take off along the bottom plate 31.

[0060] As a preferred embodiment, a laser sensor 36 is fixed on the bottom plate 31, and a sensor 35 is fixed on one of the transmission belts. When the laser sensor 36 and the sensor 35 sense and position each other, the transmission belt stops moving, so that the UAV can enter the take-off area from the temporary stop area of the carrier 26 and be ready for catapult flight and cruise.

[0061] In this embodiment, transmission teeth 41 are fixed on the rotating wheels 33 in the two guide frames 32, the transmission teeth 41 mesh with each other, an external fixed seat 4 is installed on the bottom plate, a variable-diameter drive wheel 5 is arranged inside the external fixed seat 4, and the variable-diameter drive wheel 5 is connected and driven by a transmission chain 43 to one of the transmission teeth 41;

[0062] A tension wheel 42 is further provided on the external fixing base 4.

[0063] In this embodiment, a plurality of ejector rods 51 are slidably arranged on the inner circumference of the variable-diameter driving wheel 5, and arc plates are fixed to the ends of the ejector rods 51; a driving shaft 52 is fixed at the center inside the variable-diameter driving wheel 5, a driving motor is arranged on the external fixing base 4, and the output end of the driving motor is connected to the driving shaft 52. The driving motor can be adjusted in three gears, namely low speed, medium speed, and medium-high speed.

[0064] A shaft tube 53 is slidably connected to the driving shaft 52, and an inclined ring 54 is fixed to the upper end of the shaft tube 53; the other ends of the ejector rods 51 are all fixed with inclined blocks, and the inclined blocks are in sliding contact with the outer surface of the inclined ring 54.

[0065] A collar 56 is slidably connected to the driving shaft 52, a top ring 57 is rotatably connected to the outside of the collar 56, a hook rod 58 is rotatably connected to one side of the driving motor, and the end of the hook rod 58 abuts against the top ring 57.

[0066] A telescopic cylinder 55 is installed on the driving motor, and one end of the telescopic cylinder 55 is hinged to the hook rod 58.

[0067] The top ring 57 contacts the shaft tube 53 when sliding up and down along the driving shaft 52 through the collar 56. A ball is embedded in the lower end face of the shaft tube 53. That is to say, when the telescopic cylinder 55 expands and contracts to jack up the shaft tube 53 through the top ring 57, each ejector rod 51 inside the variable-diameter driving wheel 5 can radially slide out of the variable-diameter driving wheel 5 during the sliding contact between the inclined ring 54 and the inclined block. At this time, the inner diameter of the variable-diameter driving wheel 5 increases, and the linear velocity becomes faster, thereby changing the transmission ratio with the transmission gear 41 and realizing the accelerated ejection of the cruise unmanned aerial vehicle.

[0068] A road safety information monitoring method based on unmanned aerial vehicle cruise technology includes the following steps:

[0069] Step 1: Ground transfer platforms 2, traffic monitoring poles 11 and speed measuring instruments are respectively arranged on both sides of the cruise road. The distance between adjacent ground transfer platforms 2 is not greater than 100 m, and each ground transfer platform 2 is equipped with a cruise unmanned aerial vehicle 1.

[0070] Step 2: The monitoring probes on the traffic monitoring poles 11 timely capture the vehicles in each lane on the cruise road, and the vehicle information is timely transmitted to the ground control station. The ground control station analyzes and obtains the special vehicles on the cruise road, and the speed measuring instrument detects the speed of the target vehicle in advance; the ground control station combines the current environmental wind direction conditions to guide the cruise unmanned aerial vehicle 1 on the ground transfer platform 2 to accompany and cruise for monitoring.

[0071] Step 3: The driving part 25 in the ground transfer platform 2 drives the fixed column 22 to rotate and fine-tune. At the same time, the air cylinder 28 is controlled to expand and contract so that the catapult unit 3 can reach the specified erection angle. The cruise drone 1 reaches the conveying end of the catapult unit 3. The variable-diameter drive wheel 5 drives the runner 33 on the guide frame 32 to rotate through the transmission chain 43, so that the clamping plates 37 on the two conveyor belts cooperate to clamp the front drive wheel bracket of the cruise drone 1. The cruise drone 1 slides rapidly along the bottom plate 31 and completes the catapult flight, and its initial velocity reaches the same as the speed of the target vehicle, which is convenient for the cyclic drone to follow up the target vehicle in time.

[0072] Step 4: After the accompanying flight of the cruise drone 1 ends, it reaches the next ground transfer platform 2 and lands on the carrier 26 in the ground transfer platform 2.

[0073] The above is only the preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent replacements or changes, and should be covered by the protection scope of the present invention.

Claims

1. A road safety information monitoring device based on drone cruising technology, characterized in that, It includes: the ground Transfer platforms (2) in the middle, which are multiple and evenly distributed. Each of the ground transfer platforms (2) is distributed on both sides of the cruise road. The ground transfer platforms (2) are used to provide landing support for the cruise drones (1); Traffic monitoring poles (11) are erected at the positions of each ground transfer platform on both sides of the cruise road. Monitoring probes are installed on the traffic monitoring poles (11). The monitoring probes monitor the traffic conditions of the vehicles on the cruise road in real time and quickly identify and locate special vehicles; Each of the traffic monitoring poles (11) is connected to the ground control station, and the outside of the ground control station is connected to the meteorological monitoring station through wireless communication; Multiple speed detectors are also arranged on both sides of the cruise road. The speed detectors collect the speeds of the special vehicles identified and located in the monitoring probes and transmit the speed information to the ground control station. The ground control station guides the cruise drones in the ground transfer platforms (2) to track and monitor in time with the corresponding initial speeds.

2. The road safety information monitoring device based on the UAV cruising technology according to claim 1, wherein: The ground transfer platform (2) includes: A pillar (21), above which a fixed column (22) is coaxially arranged. The fixed column (22) is rotatably connected to the pillar (21); A gear disk (24) sleeved on the fixed column (22). A driving part (25) is installed on the pillar (21). The output end of the driving part (25) is connected and driven to the gear disk (24) through gear meshing; A positioning frame (23) vertically fixed at the upper end of the fixed column (22); An ejection unit (3) horizontally arranged on one side of the positioning frame (23). The ejection unit (3) is used to provide ejection flight power for the cruise drone (1); A carrier platform (26) fixed at one end of the ejection unit (3).

3. The road safety information monitoring device based on the UAV cruise technology according to claim 2, wherein: A connecting plate (27) is rotatably connected to the positioning frame (23). The ejection unit (3) is fixed to the connecting plate (27). A control cylinder (28) is installed on the fixed column (22). One end of the control cylinder (28) is hinged to the connecting plate (27).

4. The road safety information monitoring device based on the drone cruise technology according to claim 2, wherein: A shielding plate is arranged outside the carrier platform (26), and a wireless charging transmitting device is arranged inside the carrier platform (26).

5. The road safety information monitoring device based on the drone cruise technology according to claim 2, wherein: During the rotation movement of the ejection unit (3) along with the fixed column (22), it is parallel or perpendicular to the cruise road.

6. The road safety information monitoring device based on the drone cruising technology according to claim 1, characterized in that: The ejection unit (3) includes: A bottom plate (31), on the upper end face of which two parallel guide frames (32) are symmetrically fixed; Rotating wheels (33) rotatably connected to both ends of each of the guide frames (32). A transmission belt is connected between the rotating wheels on the guide frames (32); Inner wheels (34) evenly arranged on the guide frames (32). The inner wheels (34) are in rolling contact with the inner side surface of the transmission belt; Clamping plates (37) correspondingly fixed on the two transmission belts. The two clamping plates (37) cooperate with each other to position and clamp the front drive wheel bracket of the cruise drone (1).

7. The road safety information monitoring device based on the drone cruising technology according to claim 6, characterized in that: A laser sensor (36) is fixed on the bottom plate (31), and an inductor (35) is fixed on one of the transmission belts.

8. The road safety information monitoring device based on the drone cruise technology according to claim 6, wherein: On both of the guide frames (32), transmission teeth (41) are fixed on the rotating wheels (33), and the transmission teeth (41) mesh with each other. An external fixed seat (4) is installed on the bottom plate. A variable-diameter drive wheel (5) is arranged inside the external fixed seat (4), and the variable-diameter drive wheel (5) is connected and driven with one of the transmission teeth (41) through a transmission chain (43). A tension wheel (42) is further arranged on the external fixed seat (4).

9. The road safety information monitoring device based on the UAV cruise technology according to claim 8, characterized in that: A plurality of ejector rods (51) are slidably arranged on the inner circumference of the variable-diameter drive wheel (5), and arc plates are fixed at the ends of the ejector rods (51). A drive shaft (52) is fixed at the center inside the variable-diameter drive wheel (5). A drive motor is arranged on the external fixed seat (4), and the output end of the drive motor is connected to the drive shaft (52). A shaft tube (53) is slidably connected to the drive shaft (52), and an inclined ring (54) is fixed at the upper end of the shaft tube (53). The other ends of the ejector rods (51) are all fixed with inclined blocks, and the inclined blocks are in sliding contact with the outer surface of the inclined ring (54). A ring sleeve (56) is slidably connected to the drive shaft (52), a top ring (57) is rotatably connected to the outside of the ring sleeve (56), a hook rod (58) is rotatably connected to one side of the drive motor, and the end of the hook rod (58) abuts against the top ring (57). A telescopic cylinder (55) is installed on the drive motor, and one end of the telescopic cylinder (55) is hinged to the hook rod (58). During the up and down sliding of the top ring (57) along the drive shaft (52) through the ring sleeve (56), the top ring (57) contacts the shaft tube (53), and balls are embedded in the lower end surface of the shaft tube (53).

10. A method for monitoring road safety information based on UAV cruise technology, which uses the road safety information monitoring device based on UAV cruise technology described in any one of claims 1-9, characterized in that, It includes the following steps: Step 1: Ground transfer platforms (2), traffic monitoring poles (11) and speed measuring instruments are respectively arranged on both sides of the cruise road. The distance between adjacent ground transfer platforms (2) is not greater than 100 m, and each ground transfer platform (2) is equipped with a cruise UAV (1). Step 2: The monitoring probes on the traffic monitoring poles (11) timely capture the vehicles in each lane on the cruise road. The vehicle information is timely transmitted to the ground control station. The ground control station analyzes and obtains the special vehicles on the cruise road, and the speed measuring instrument detects the speed of the target vehicle in advance. The ground control station combines the current environmental wind direction conditions and guides the cruise UAV (1) on the ground transfer platform (2) to accompany and cruise for monitoring. Step 3: The drive part (25) in the ground transfer platform (2) drives the fixed column (22) to rotate and fine-tune, and at the same time controls the cylinder (28) to expand and contract so that the ejection unit (3) can reach the specified erection angle. The cruise UAV (1) reaches the conveying end of the ejection unit (3). The variable-diameter drive wheel (5) drives the rotating wheel (33) on the guide frame (32) to rotate through the transmission chain (43), so that the clamping plates (37) on the two transmission belts cooperate to clamp the front drive wheel bracket of the cruise UAV (1). The cruise UAV (1) quickly slides along the bottom plate (31) and completes the ejection flight, and its initial velocity reaches the same as the speed of the target vehicle. Step 4: After the accompanying flight of the cruise drone (1) ends, it reaches the next ground transfer platform (2) and lands on the carrier platform (26) in the ground transfer platform (2).

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